Merge pull request 'prep v1.36.0' (#449) from prep_v1.36.0 into develop

Reviewed-on: #449

CHANGELOG.md

@@ -16,6 +16,82 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [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
@@ -26,6 +102,8 @@ 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.

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 34)
+set(OBSW_VERSION_MINOR 36)
 set(OBSW_VERSION_REVISION 0)
 
 # 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}
@@ -295,8 +297,10 @@ include(BuildType)
 set_build_type()
 
 set(FSFW_DEBUG_INFO 0)
+set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 0)
 if(RELEASE_BUILD MATCHES 0)
   set(FSFW_DEBUG_INFO 1)
+  set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1)
 endif()
 
 # Configuration files

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 267 translations.
+ * @brief    Auto-generated event translation file. Contains 269 translations.
  * @details
- * Generated on: 2023-03-02 17:08:11
+ * Generated on: 2023-03-08 16:44:32
  */
 #include "translateEvents.h"
 
@@ -257,6 +257,8 @@ 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 *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";
@@ -774,6 +776,10 @@ 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 (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 158 translations.
- * Generated on: 2023-03-02 17:08:11
+ * Contains 160 translations.
+ * Generated on: 2023-03-08 16:44:32
  */
 #include "translateObjects.h"
 
@@ -145,6 +145,8 @@ const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_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";
@@ -445,6 +447,10 @@ const char *translateObject(object_id_t object) {
       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:

bsp_q7s/OBSWConfig.h.in

@@ -67,7 +67,7 @@
 #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/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/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.cpp

@@ -33,12 +33,7 @@ xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
 CoreController::CoreController(object_id_t objectId)
     : ExtendedControllerBase(objectId, 5), opDivider5(5), opDivider10(10), hkSet(this) {
-  ReturnValue_t result = returnvalue::OK;
   try {
-    result = initWatchdogFifo();
-    if (result != returnvalue::OK) {
-      sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" << std::endl;
-    }
     sdcMan = SdCardManager::instance();
     if (sdcMan == nullptr) {
       sif::error << "CoreController::CoreController: SD card manager invalid!" << std::endl;
@@ -47,6 +42,16 @@ CoreController::CoreController(object_id_t objectId)
     if (not BLOCKING_SD_INIT) {
       sdcMan->setBlocking(false);
     }
+    auto sdCard = sdcMan->getPreferredSdCard();
+    if (not sdCard.has_value()) {
+      sif::error << "CoreController::initializeAfterTaskCreation: "
+                    "Issues getting preferred SD card, setting to 0"
+                 << std::endl;
+      sdCard = sd::SdCard::SLOT_0;
+    }
+    sdInfo.active = sdCard.value();
+    sdcMan->setActiveSdCard(sdInfo.active);
+    currMntPrefix = sdcMan->getCurrentMountPrefix();
 
     getCurrentBootCopy(CURRENT_CHIP, CURRENT_COPY);
 
@@ -54,6 +59,10 @@ CoreController::CoreController(object_id_t objectId)
   } catch (const std::filesystem::filesystem_error &e) {
     sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
   }
+  // Add script folder to path
+  char *currentEnvPath = getenv("PATH");
+  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts:/usr/local/bin";
+  setenv("PATH", updatedEnvPath.c_str(), true);
   sdCardCheckCd.timeOut();
   eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
 }
@@ -78,7 +87,6 @@ void CoreController::performControlOperation() {
       }
     }
   }
-  performWatchdogControlOperation();
   sdStateMachine();
   performMountedSdCardOperations();
   if (sdCardCheckCd.hasTimedOut()) {
@@ -148,22 +156,6 @@ ReturnValue_t CoreController::initialize() {
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
   ReturnValue_t result = returnvalue::OK;
-  auto sdCard = sdcMan->getPreferredSdCard();
-  if (not sdCard) {
-    return returnvalue::FAILED;
-  }
-  sdInfo.active = sdCard.value();
-  if (sdInfo.active == sd::SdCard::NONE) {
-    sif::error << "CoreController::initializeAfterTaskCreation: "
-                  "Issues getting preferred SD card, setting to 0"
-               << std::endl;
-    sdInfo.active = sd::SdCard::SLOT_0;
-  }
-  sdcMan->setActiveSdCard(sdInfo.active);
-  currMntPrefix = sdcMan->getCurrentMountPrefix();
-  if (currMntPrefix == "") {
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
   if (BLOCKING_SD_INIT) {
     result = initSdCardBlocking();
     if (result != returnvalue::OK and result != SdCardManager::ALREADY_MOUNTED) {
@@ -175,12 +167,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
   if (result != returnvalue::OK) {
     sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
   }
-  // Add script folder to path
-  char *currentEnvPath = getenv("PATH");
-  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts:/usr/local/bin";
-  setenv("PATH", updatedEnvPath.c_str(), true);
   updateProtInfo();
-  initPrint();
   return ExtendedControllerBase::initializeAfterTaskCreation();
 }
 
@@ -203,6 +190,10 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       triggerEvent(VERSION_INFO, p1, p2);
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (ANNOUNCE_BOOT_COUNTS): {
+      announceBootCounts();
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
     case (ANNOUNCE_CURRENT_IMAGE): {
       triggerEvent(CURRENT_IMAGE_INFO, CURRENT_CHIP, CURRENT_COPY);
       return HasActionsIF::EXECUTION_FINISHED;
@@ -614,7 +605,8 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
       sif::info << "Unmounting SD card " << sdChar << std::endl;
       return sdcMan->unmountSdCard(sdCard);
     } else {
-      if (std::filesystem::exists(mountString)) {
+      std::error_code e;
+      if (std::filesystem::exists(mountString, e)) {
         sif::info << "SD card " << sdChar << " already on and mounted at " << mountString
                   << std::endl;
         return SdCardManager::ALREADY_MOUNTED;
@@ -711,7 +703,8 @@ ReturnValue_t CoreController::initVersionFile() {
   std::string versionFilePath = currMntPrefix + VERSION_FILE;
   std::fstream versionFile;
 
-  if (not std::filesystem::exists(versionFilePath)) {
+  std::error_code e;
+  if (not std::filesystem::exists(versionFilePath, e)) {
     sif::info << "Writing version file " << versionFilePath << ".." << std::endl;
     versionFile.open(versionFilePath, std::ios_base::out);
     versionFile << fullObswVersionString << std::endl;
@@ -823,7 +816,8 @@ ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
 }
 
 ReturnValue_t CoreController::initBootCopyFile() {
-  if (not std::filesystem::exists(CURR_COPY_FILE)) {
+  std::error_code e;
+  if (not std::filesystem::exists(CURR_COPY_FILE, e)) {
     // This file is created by the systemd service eive-early-config so this should
     // not happen normally
     std::string cmd = "xsc_boot_copy > " + std::string(CURR_COPY_FILE);
@@ -844,36 +838,6 @@ void CoreController::getCurrentBootCopy(xsc::Chip &chip, xsc::Copy &copy) {
   copy = static_cast<xsc::Copy>(xscCopy);
 }
 
-ReturnValue_t CoreController::initWatchdogFifo() {
-  if (not std::filesystem::exists(watchdog::FIFO_NAME)) {
-    // 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 returnvalue::OK;
-}
-
-void CoreController::initPrint() {
-#if OBSW_VERBOSE_LEVEL >= 1
-  if (watchdogFifoFd > 0) {
-    sif::info << "Opened watchdog FIFO successfully.." << std::endl;
-  }
-#endif
-}
-
 ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) {
   if (size < 1) {
     return HasActionsIF::INVALID_PARAMETERS;
@@ -1157,7 +1121,8 @@ ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
       return result;
     }
   }
-  if (not filesystem::exists(CHIP_STATE_FILE)) {
+  std::error_code e;
+  if (not filesystem::exists(CHIP_STATE_FILE, e)) {
     return returnvalue::FAILED;
   }
   ifstream chipStateFile(CHIP_STATE_FILE);
@@ -1231,43 +1196,19 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
   return returnvalue::OK;
 }
 
-void CoreController::performWatchdogControlOperation() {
-  // Only perform each fifth iteration
-  if (watchdogFifoFd != 0 and opDivider5.check()) {
-    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;
-    } else if (watchdogFifoFd > 0) {
-      // Write to OBSW watchdog FIFO here
-      const char writeChar = 'a';
-      ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
-      if (writtenBytes < 0) {
-        sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
-                   << std::endl;
-      }
-    }
-  }
-}
-
 void CoreController::performMountedSdCardOperations() {
   auto mountedSdCardOp = [&](sd::SdCard sdCard, std::string mntPoint) {
     if (not performOneShotSdCardOpsSwitch) {
       std::ostringstream path;
       path << mntPoint << "/" << CONF_FOLDER;
-      if (not std::filesystem::exists(path.str())) {
-        std::filesystem::create_directory(path.str());
+      std::error_code e;
+      if (not std::filesystem::exists(path.str()), e) {
+        bool created = std::filesystem::create_directory(path.str(), e);
+        if (not created) {
+          sif::error << "Could not create CONF folder at " << path.str() << ": " << e.message()
+                     << std::endl;
+          return;
+        }
       }
       initVersionFile();
       ReturnValue_t result = initBootCopyFile();
@@ -1352,7 +1293,8 @@ ReturnValue_t CoreController::performSdCardCheck() {
 void CoreController::performRebootFileHandling(bool recreateFile) {
   using namespace std;
   std::string path = currMntPrefix + REBOOT_FILE;
-  if (not std::filesystem::exists(path) or recreateFile) {
+  std::error_code e;
+  if (not std::filesystem::exists(path, e) or recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
 #endif
@@ -1394,13 +1336,13 @@ void CoreController::performRebootFileHandling(bool recreateFile) {
   if (rebootFile.bootFlag) {
     // Trigger event to inform ground that a reboot was triggered
     uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
-    uint32_t p2 = rebootFile.img00Cnt << 24 | rebootFile.img01Cnt << 16 | rebootFile.img10Cnt << 8 |
-                  rebootFile.img11Cnt;
-    triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, p2);
+    triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, 0);
     // Clear the boot flag
     rebootFile.bootFlag = false;
   }
 
+  announceBootCounts();
+
   if (rebootFile.mechanismNextChip != xsc::NO_CHIP and
       rebootFile.mechanismNextCopy != xsc::NO_COPY) {
     if (CURRENT_CHIP != rebootFile.mechanismNextChip or
@@ -1819,7 +1761,8 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
   using namespace GpsHyperion;
   using namespace std;
   std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
-  if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName) and
+  std::error_code e;
+  if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName, e) and
       ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
        not utility::timeSanityCheck())) {
     ifstream timeFile(fileName);
@@ -1944,7 +1887,8 @@ ReturnValue_t CoreController::executeSwUpdate(SwUpdateSources sourceDir, const u
     prefixPath = path("/tmp");
   }
   path archivePath = prefixPath / path(config::OBSW_UPDATE_ARCHIVE_FILE_NAME);
-  if (not exists(archivePath)) {
+  std::error_code e;
+  if (not exists(archivePath, e)) {
     return HasFileSystemIF::FILE_DOES_NOT_EXIST;
   }
   ostringstream cmd("tar -xJf", ios::app);
@@ -1954,12 +1898,12 @@ ReturnValue_t CoreController::executeSwUpdate(SwUpdateSources sourceDir, const u
     utility::handleSystemError(result, "CoreController::executeAction: SW Update Decompression");
   }
   path strippedImagePath = prefixPath / path(config::STRIPPED_OBSW_BINARY_FILE_NAME);
-  if (!exists(strippedImagePath)) {
+  if (!exists(strippedImagePath, e)) {
     // TODO: Custom returnvalue?
     return returnvalue::FAILED;
   }
   path obswVersionFilePath = prefixPath / path(config::OBSW_VERSION_FILE_NAME);
-  if (!exists(obswVersionFilePath)) {
+  if (!exists(obswVersionFilePath, e)) {
     // TODO: Custom returnvalue?
     return returnvalue::FAILED;
   }
@@ -2056,6 +2000,15 @@ bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mo
   return true;
 }
 
+void CoreController::announceBootCounts() {
+  uint64_t totalBootCount =
+      rebootFile.img00Cnt + rebootFile.img01Cnt + rebootFile.img10Cnt + rebootFile.img11Cnt;
+  uint32_t individualBootCountsP1 = (rebootFile.img00Cnt << 16) | rebootFile.img01Cnt;
+  uint32_t individualBootCountsP2 = (rebootFile.img10Cnt << 16) | rebootFile.img11Cnt;
+  triggerEvent(INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
+  triggerEvent(REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff, totalBootCount & 0xffffffff);
+}
+
 bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();

bsp_q7s/core/CoreController.h

@@ -78,6 +78,7 @@ class CoreController : public ExtendedControllerBase {
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
   static constexpr ActionId_t ANNOUNCE_VERSION = 1;
   static constexpr ActionId_t ANNOUNCE_CURRENT_IMAGE = 2;
+  static constexpr ActionId_t ANNOUNCE_BOOT_COUNTS = 3;
   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;
@@ -102,7 +103,7 @@ class CoreController : public ExtendedControllerBase {
   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);
+  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::LOW);
   //! [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
@@ -119,6 +120,13 @@ class CoreController : public ExtendedControllerBase {
   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);
+  //! [EXPORT] : [COMMENT] Total reboot counter, which is the sum of the boot count of all
+  //! individual images.
+  static constexpr Event REBOOT_COUNTER = event::makeEvent(SUBSYSTEM_ID, 7, severity::INFO);
+  //! [EXPORT] : [COMMENT] Get the boot count of the individual images.
+  //! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
+  //! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
+  static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
 
   CoreController(object_id_t objectId);
   virtual ~CoreController();
@@ -164,9 +172,6 @@ class CoreController : public ExtendedControllerBase {
   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
-  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
@@ -263,7 +268,6 @@ class CoreController : public ExtendedControllerBase {
   ReturnValue_t performSdCardCheck();
   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);
@@ -288,8 +292,6 @@ class CoreController : public ExtendedControllerBase {
 
   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,
@@ -300,6 +302,7 @@ 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

@@ -7,7 +7,10 @@
 #include <mission/devices/GyrL3gCustomHandler.h>
 #include <mission/devices/MgmLis3CustomHandler.h>
 #include <mission/devices/MgmRm3100CustomHandler.h>
+#include <mission/system/fdir/StrFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
+#include <mission/system/objects/ImtqAssembly.h>
+#include <mission/system/objects/StrAssembly.h>
 #include <mission/system/objects/SyrlinksAssembly.h>
 
 #include "OBSWConfig.h"
@@ -902,26 +905,47 @@ 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,
                        startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
   starTrackerCookie->setNoFixedSizeReply();
   StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+
+  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,
-                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+                             paramJsonFile, strHelper, pcdu::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) {
+  auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
+  imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
+
   new ImtqPollingTask(objects::IMTQ_POLLING);
   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,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
   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();

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

@@ -240,24 +240,26 @@ void scheduling::initTasks() {
   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 */
-#if OBSW_ADD_RW == 1
   result = acsSysTask->addComponent(objects::RW_ASSY);
   if (result != returnvalue::OK) {
     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 (result != returnvalue::OK) {
+    scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
+  }
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
       "TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
@@ -521,6 +523,10 @@ 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);

bsp_q7s/fs/SdCardManager.cpp

@@ -21,15 +21,15 @@ SdCardManager* SdCardManager::INSTANCE = nullptr;
 
 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
   sdLock = MutexFactory::instance()->createMutex();
-  ReturnValue_t result = sdLock->lockMutex();
-  if (result != returnvalue::OK) {
+  prefLock = MutexFactory::instance()->createMutex();
+  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);
-  if (sdLock->unlockMutex() != returnvalue::OK) {
-    sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
-  }
+  ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
 
   if (result != returnvalue::OK) {
     if (result == scratch::KEY_NOT_FOUND) {
@@ -37,14 +37,16 @@ SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor
                       "Preferred SD card not set. Setting to 0"
                    << std::endl;
       setPreferredSdCard(sd::SdCard::SLOT_0);
-      sdInfo.pref = sd::SdCard::SLOT_0;
+      scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(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);
@@ -195,8 +197,9 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
 
 ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
   using namespace std;
-  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-  if (not filesystem::exists(SD_STATE_FILE)) {
+  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
+  std::error_code e;
+  if (not filesystem::exists(SD_STATE_FILE, e)) {
     return STATUS_FILE_NEXISTS;
   }
 
@@ -237,7 +240,8 @@ 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 +276,8 @@ 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;
@@ -378,7 +383,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
 }
 
 std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
-  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  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 +392,7 @@ std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
 }
 
 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  MutexGuard mg(prefLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   if (sdCard == sd::SdCard::BOTH) {
     return returnvalue::FAILED;
   }
@@ -399,7 +404,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
     return CommandExecutor::COMMAND_PENDING;
   }
-  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  MutexGuard mg(sdLock, LOCK_TYPE, SD_LOCK_TIMEOUT, LOCK_CTX);
   // 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);
@@ -411,7 +416,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
 }
 
 const char* SdCardManager::getCurrentMountPrefix() const {
-  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   if (currentPrefix.has_value()) {
     return currentPrefix.value().c_str();
   }
@@ -464,7 +469,7 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p
 
 bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
   {
-    MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+    MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
     if (markedUnusable) {
       return false;
     }
@@ -560,7 +565,7 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in
 }
 
 void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  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;
@@ -570,7 +575,7 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
 }
 
 std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
-  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   if (markedUnusable) {
     return std::nullopt;
   }
@@ -578,6 +583,6 @@ std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
 }
 
 void SdCardManager::markUnusable() {
-  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
   markedUnusable = true;
 }

bsp_q7s/fs/SdCardManager.h

@@ -224,8 +224,11 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   bool printCmdOutput = true;
   bool markedUnusable = false;
   MutexIF* sdLock = nullptr;
+  MutexIF* prefLock = nullptr;
+  MutexIF* defaultLock = nullptr;
   static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
-  static constexpr uint32_t LOCK_TIMEOUT = 40;
+  static constexpr uint32_t SD_LOCK_TIMEOUT = 250;
+  static constexpr uint32_t OTHER_TIMEOUT = 20;
   static constexpr char LOCK_CTX[] = "SdCardManager";
 
   SdCardManager();

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/LocalParameterHandler.h

@@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
 #define BSP_Q7S_MEMORY_LOCALPARAMETERHANDLER_H_
 
-#include <mission/memory/NVMParameterBase.h>
+#include <mission/memory/NvmParameterBase.h>
 #include <mission/memory/SdCardMountedIF.h>
 
 #include <string>

bsp_q7s/obsw.cpp

@@ -9,6 +9,7 @@
 #include <iostream>
 
 #include "OBSWConfig.h"
+#include "bsp_q7s/core/WatchdogHandler.h"
 #include "commonConfig.h"
 #include "core/scheduling.h"
 #include "fsfw/tasks/TaskFactory.h"
@@ -18,13 +19,16 @@
 #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 +37,10 @@ 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 +49,45 @@ 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
+  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;
@@ -71,31 +107,26 @@ int obsw::obsw() {
     std::cout << "Delaying OBSW start for " << bootDelaySecs << " seconds" << std::endl;
     TaskFactory::delayTask(bootDelaySecs * 1000);
   }
+}
 
-  scheduling::initMission();
-
-  // Command the EIVE system to safe mode
+void obsw::commandEiveSystemToSafe() {
   auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
   CommandMessage msg;
-#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
   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;
   }
-#else
+}
+
+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 << "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 +3,12 @@
 
 namespace obsw {
 
-int obsw();
+int obsw(int argc, char* argv[]);
 
-};
+void bootDelayHandling();
+void commandEiveSystemToSafe();
+void announceAllModes();
+
+};  // namespace obsw
 
 #endif /* BSP_Q7S_CORE_OBSW_H_ */

common/config/eive/definitions.h

@@ -59,10 +59,10 @@ namespace spiSched {
 
 static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
 static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
-static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 42;
+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 = 95;
+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;

common/config/eive/objects.h

@@ -145,6 +145,8 @@ enum commonObjects : uint32_t {
   RW_ASSY = 0x73000004,
   CAM_SWITCHER = 0x73000006,
   SYRLINKS_ASSY = 0x73000007,
+  IMTQ_ASSY = 0x73000008,
+  STR_ASSY = 0x73000009,
   EIVE_SYSTEM = 0x73010000,
   ACS_SUBSYSTEM = 0x73010001,
   PL_SUBSYSTEM = 0x73010002,

generators/bsp_hosted_events.csv

@@ -250,12 +250,14 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;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;bsp_q7s/core/CoreController.h
 14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
 14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 14005;0x36b5;VERSION_INFO;INFO;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.;bsp_q7s/core/CoreController.h
 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
+14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h

generators/bsp_hosted_objects.csv

@@ -137,6 +137,8 @@
 0x73000004;RW_ASSY
 0x73000006;CAM_SWITCHER
 0x73000007;SYRLINKS_ASSY
+0x73000008;IMTQ_ASSY
+0x73000009;STR_ASSY
 0x73000100;TM_FUNNEL
 0x73000101;PUS_TM_FUNNEL
 0x73000102;CFDP_TM_FUNNEL

generators/bsp_hosted_returnvalues.csv

@@ -1,7 +1,7 @@
 Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
-0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.h
 0x5100;IMTQ_InvalidCommandCode;No description;0;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
 0x5101;IMTQ_MgmMeasurementLowLevelError;No description;1;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
 0x5102;IMTQ_ActuateCmdLowLevelError;No description;2;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h

generators/bsp_q7s_events.csv

@@ -250,12 +250,14 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;No description;mission/utility/GlobalConfigHandler.h
 14000;0x36b0;ALLOC_FAILURE;MEDIUM;No description;bsp_q7s/core/CoreController.h
-14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14001;0x36b1;REBOOT_SW;LOW; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;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;bsp_q7s/core/CoreController.h
 14003;0x36b3;REBOOT_HW;MEDIUM;No description;bsp_q7s/core/CoreController.h
 14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 14005;0x36b5;VERSION_INFO;INFO;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.;bsp_q7s/core/CoreController.h
 14006;0x36b6;CURRENT_IMAGE_INFO;INFO;P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14007;0x36b7;REBOOT_COUNTER;INFO;Total reboot counter, which is the sum of the boot count of all individual images.;bsp_q7s/core/CoreController.h
+14008;0x36b8;INDIVIDUAL_BOOT_COUNTS;INFO;Get the boot count of the individual images. P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1. P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.;bsp_q7s/core/CoreController.h
 14100;0x3714;NO_VALID_SENSOR_TEMPERATURE;MEDIUM;No description;mission/controller/ThermalController.h
 14101;0x3715;NO_HEALTHY_HEATER_AVAILABLE;MEDIUM;No description;mission/controller/ThermalController.h
 14102;0x3716;SYRLINKS_OVERHEATING;HIGH;No description;mission/controller/ThermalController.h

generators/bsp_q7s_objects.csv

@@ -142,6 +142,8 @@
 0x73000004;RW_ASSY
 0x73000006;CAM_SWITCHER
 0x73000007;SYRLINKS_ASSY
+0x73000008;IMTQ_ASSY
+0x73000009;STR_ASSY
 0x73000100;TM_FUNNEL
 0x73000101;PUS_TM_FUNNEL
 0x73000102;CFDP_TM_FUNNEL

generators/bsp_q7s_returnvalues.csv

@@ -1,7 +1,7 @@
 Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x0000;OK;System-wide code for ok.;0;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
 0x0001;Failed;Unspecified system-wide code for failed.;1;HasReturnvaluesIF;fsfw/returnvalues/returnvalue.h
-0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NVMParameterBase.h
+0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.h
 0x5100;IMTQ_InvalidCommandCode;No description;0;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
 0x5101;IMTQ_MgmMeasurementLowLevelError;No description;1;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h
 0x5102;IMTQ_ActuateCmdLowLevelError;No description;2;IMTQ_HANDLER;mission/devices/devicedefinitions/imtqHelpers.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 267 translations.
+ * @brief    Auto-generated event translation file. Contains 269 translations.
  * @details
- * Generated on: 2023-03-02 17:08:11
+ * Generated on: 2023-03-08 16:44:32
  */
 #include "translateEvents.h"
 
@@ -257,6 +257,8 @@ 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 *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";
@@ -774,6 +776,10 @@ 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 (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 162 translations.
- * Generated on: 2023-03-02 17:08:11
+ * Contains 164 translations.
+ * Generated on: 2023-03-08 16:44:32
  */
 #include "translateObjects.h"
 
@@ -150,6 +150,8 @@ const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_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";
@@ -459,6 +461,10 @@ const char *translateObject(object_id_t object) {
       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:

linux/devices/GpsHyperionLinuxController.cpp

@@ -214,16 +214,14 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
   }
 
   bool validFix = false;
+  uint8_t newFix = 0;
   if (modeIsSet) {
     // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
     if (gps.fix.mode == 2 or gps.fix.mode == 3) {
       validFix = true;
     }
-    if (gpsSet.fixMode.value != gps.fix.mode) {
-      triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
-    }
-    gpsSet.fixMode.value = gps.fix.mode;
-    if (gps.fix.mode == 0 or gps.fix.mode == 1) {
+    newFix = gps.fix.mode;
+    if (newFix == 0 or newFix == 1) {
       if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
         // We are supposed to be on and functioning, but no fix was found
         if (mode == MODE_ON or mode == MODE_NORMAL) {
@@ -233,6 +231,10 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
       }
     }
   }
+  if (gpsSet.fixMode.value != newFix) {
+    triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFix);
+  }
+  gpsSet.fixMode = newFix;
   gpsSet.fixMode.setValid(modeIsSet);
 
   // Only set on specific messages, so only set a valid flag to invalid

linux/devices/ImtqPollingTask.cpp

@@ -28,6 +28,8 @@ ReturnValue_t ImtqPollingTask::performOperation(uint8_t operationCode) {
     // Stopwatch watch;
     switch (currentRequest) {
       case imtq::RequestType::MEASURE_NO_ACTUATION: {
+        // Measured to take 24 ms for debug and release builds.
+        // Stopwatch watch;
         handleMeasureStep();
         break;
       }
@@ -35,6 +37,9 @@ ReturnValue_t ImtqPollingTask::performOperation(uint8_t operationCode) {
         handleActuateStep();
         break;
       }
+      default: {
+        break;
+      }
     };
   }
   return returnvalue::OK;
@@ -44,6 +49,9 @@ void ImtqPollingTask::handleMeasureStep() {
   size_t replyLen = 0;
   uint8_t* replyPtr;
   ImtqRepliesDefault replies(replyBuf.data());
+  // If some startup handling is added later, set configured after it was done once.
+  replies.setConfigured();
+
   // Can be used later to verify correct timing (e.g. all data has been read)
   clearReadFlagsDefault(replies);
   auto i2cCmdExecMeasure = [&](imtq::CC::CC cc) {
@@ -118,12 +126,19 @@ void ImtqPollingTask::handleMeasureStep() {
   }
   // Takes a bit of time to take measurements. Subtract a bit because of the delay of previous
   // commands.
-  TaskFactory::delayTask(currentIntegrationTimeMs);
+  TaskFactory::delayTask(currentIntegrationTimeMs + MGM_READ_BUFFER_TIME_MS);
 
   cmdBuf[0] = imtq::CC::GET_RAW_MTM_MEASUREMENT;
   if (i2cCmdExecMeasure(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
     return;
   }
+  bool mgmMeasurementTooOld = false;
+  // See p.39 of the iMTQ user manual. If the NEW bit of the STAT bitfield is not set, we probably
+  // have old data. Which can be really bad for ACS. And everything.
+  if ((replyPtr[2] >> 7) == 0) {
+    replyPtr[0] = false;
+    mgmMeasurementTooOld = true;
+  }
 
   cmdBuf[0] = imtq::CC::GET_ENG_HK_DATA;
   if (i2cCmdExecMeasure(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) {
@@ -134,7 +149,9 @@ void ImtqPollingTask::handleMeasureStep() {
   if (i2cCmdExecMeasure(imtq::CC::GET_CAL_MTM_MEASUREMENT) != returnvalue::OK) {
     return;
   }
-  // sif::debug << "measure done" << std::endl;
+  if (mgmMeasurementTooOld) {
+    sif::error << "IMTQ: MGM measurement too old" << std::endl;
+  }
   return;
 }
 
@@ -157,23 +174,36 @@ void ImtqPollingTask::handleActuateStep() {
     return;
   }
 
+  TaskFactory::delayTask(10);
+
   cmdLen = 1;
   cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
   if (i2cCmdExecActuate(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
     return;
   }
 
-  TaskFactory::delayTask(currentIntegrationTimeMs);
+  TaskFactory::delayTask(currentIntegrationTimeMs + MGM_READ_BUFFER_TIME_MS);
 
   cmdBuf[0] = imtq::CC::GET_RAW_MTM_MEASUREMENT;
   if (i2cCmdExecActuate(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
     return;
   }
+  bool measurementWasTooOld = false;
+  // See p.39 of the iMTQ user manual. If the NEW bit of the STAT bitfield is not set, we probably
+  // have old data. Which can be really bad for ACS. And everything.
+  if ((replyPtr[2] >> 7) == 0) {
+    measurementWasTooOld = true;
+    replyPtr[0] = false;
+  }
+
   cmdBuf[0] = imtq::CC::GET_ENG_HK_DATA;
   if (i2cCmdExecActuate(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) {
     return;
   }
-  // sif::debug << "measure with torque done" << std::endl;
+
+  if (measurementWasTooOld) {
+    sif::error << "IMTQ: MGM measurement too old" << std::endl;
+  }
   return;
 }
 
@@ -192,15 +222,15 @@ ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
 
 ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
                                            size_t sendLen) {
-  ImtqRequest request(sendData, sendLen);
+  const auto* imtqReq = reinterpret_cast<const imtq::Request*>(sendData);
   {
     MutexGuard mg(ipcLock);
-    currentRequest = request.getRequestType();
-    if (currentRequest == imtq::RequestType::ACTUATE) {
-      std::memcpy(dipoles, request.getDipoles(), 6);
-      torqueDuration = request.getTorqueDuration();
+    if (imtqReq->request == imtq::RequestType::ACTUATE) {
+      std::memcpy(dipoles, imtqReq->dipoles, sizeof(dipoles));
+      torqueDuration = imtqReq->torqueDuration;
     }
-    specialRequest = request.getSpecialRequest();
+    currentRequest = imtqReq->request;
+    specialRequest = imtqReq->specialRequest;
     if (state != InternalState::IDLE) {
       return returnvalue::FAILED;
     }
@@ -309,6 +339,8 @@ void ImtqPollingTask::buildDipoleCommand() {
   }
   SerializeAdapter::serialize(&torqueDuration, &serPtr, &serLen, cmdBuf.size(),
                               SerializeIF::Endianness::LITTLE);
+  // sif::debug << "Dipole X: " << dipoles[0] << std::endl;
+  // sif::debug << "Torqeu Dur: " << torqueDuration << std::endl;
   cmdLen = 1 + serLen;
 }
 
@@ -325,9 +357,11 @@ ReturnValue_t ImtqPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** b
   if (currentRequest == imtq::RequestType::MEASURE_NO_ACTUATION) {
     replyLen = getExchangeBufLen(specialRequest);
     memcpy(exchangeBuf.data(), replyBuf.data(), replyLen);
-  } else {
+  } else if (currentRequest == imtq::RequestType::ACTUATE) {
     replyLen = ImtqRepliesWithTorque::BASE_LEN;
     memcpy(exchangeBuf.data(), replyBufActuation.data(), replyLen);
+  } else {
+    *size = 0;
   }
   *buffer = exchangeBuf.data();
   *size = replyLen;

linux/devices/ImtqPollingTask.h

@@ -32,12 +32,13 @@ class ImtqPollingTask : public SystemObject,
   const char* i2cDev = nullptr;
   address_t i2cAddr = 0;
   uint32_t currentIntegrationTimeMs = 10;
+  // Required in addition to integration time, otherwise old data might be read.
+  static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 6;
   bool ignoreNextActuateRequest = false;
 
   imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
   int16_t dipoles[3] = {};
   uint16_t torqueDuration = 0;
-  // uint8_t startActuateRawBuf[3] = {};
 
   std::array<uint8_t, 32> cmdBuf;
   std::array<uint8_t, 524> replyBuf;

linux/devices/startracker/ArcsecJsonParamBase.cpp

@@ -5,14 +5,14 @@
 ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
 
 ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) {
-  ReturnValue_t result = returnvalue::OK;
-  result = init(fullname);
-  if (result != returnvalue::OK) {
-    sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set "
-                 << setName << std::endl;
-    return result;
-  }
-  result = createCommand(buffer);
+  // ReturnValue_t result = returnvalue::OK;
+  //  result = init(fullname);
+  //  if (result != returnvalue::OK) {
+  //    sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set "
+  //                 << setName << std::endl;
+  //    return result;
+  //  }
+  ReturnValue_t result = createCommand(buffer);
   if (result != returnvalue::OK) {
     sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set "
                  << setName << std::endl;
@@ -74,12 +74,17 @@ ReturnValue_t ArcsecJsonParamBase::init(const std::string filename) {
                  << std::endl;
     return JSON_FILE_NOT_EXISTS;
   }
-  createJsonObject(filename);
-  result = initSet();
-  if (result != returnvalue::OK) {
-    return result;
+  try {
+    createJsonObject(filename);
+    result = initSet();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    return returnvalue::OK;
+  } catch (json::exception& e) {
+    // TODO: Re-create json file from backup here.
+    return returnvalue::FAILED;
   }
-  return returnvalue::OK;
 }
 
 void ArcsecJsonParamBase::createJsonObject(const std::string fullname) {

linux/devices/startracker/ArcsecJsonParamBase.h

@@ -41,6 +41,17 @@ class ArcsecJsonParamBase {
    */
   ArcsecJsonParamBase(std::string setName);
 
+  /**
+   * @brief   Initializes the properties json object and the set json object
+   *
+   * @param fullname  Name including absolute path to json file
+   * @param setName   The name of the set to work on
+   *
+   * @param return    JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
+   *                  returnvalue::OK
+   */
+  ReturnValue_t init(const std::string filename);
+
   /**
    * @brief   Fills a buffer with a parameter set
    *
@@ -124,17 +135,6 @@ class ArcsecJsonParamBase {
    */
   virtual ReturnValue_t createCommand(uint8_t* buffer) = 0;
 
-  /**
-   * @brief   Initializes the properties json object and the set json object
-   *
-   * @param fullname  Name including absolute path to json file
-   * @param setName   The name of the set to work on
-   *
-   * @param return    JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
-   *                  returnvalue::OK
-   */
-  ReturnValue_t init(const std::string filename);
-
   void createJsonObject(const std::string fullname);
 
   /**

linux/devices/startracker/StarTrackerHandler.cpp

@@ -1,8 +1,11 @@
 #include "StarTrackerHandler.h"
 
 #include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
 
+#include <atomic>
 #include <fstream>
+#include <thread>
 
 #include "OBSWConfig.h"
 #include "StarTrackerJsonCommands.h"
@@ -14,8 +17,11 @@ extern "C" {
 #include "common/misc.h"
 }
 
+std::atomic_bool JCFG_DONE(false);
+
 StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                       StrHelper* strHelper, power::Switch_t powerSwitch)
+                                       const char* jsonFileStr, StrHelper* strHelper,
+                                       power::Switch_t powerSwitch)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       temperatureSet(this),
       versionSet(this),
@@ -40,6 +46,7 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
       logSubscriptionSet(this),
       debugCameraSet(this),
       strHelper(strHelper),
+      paramJsonFile(jsonFileStr),
       powerSwitch(powerSwitch) {
   if (comCookie == nullptr) {
     sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
@@ -59,6 +66,11 @@ ReturnValue_t StarTrackerHandler::initialize() {
     return result;
   }
 
+  // Spin up a thread to do the JSON initialization, takes 200-250 ms which would
+  // delay whole satellite boot process.
+  jcfgCountdown.resetTimer();
+  jsonCfgTask = std::thread{setUpJsonCfgs, std::ref(jcfgs), paramJsonFile.c_str()};
+
   EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -240,8 +252,19 @@ void StarTrackerHandler::doStartUp() {
       // the device handler's submode to the star tracker's mode
       return;
     case StartupState::DONE:
+      if (jcfgCountdown.isBusy()) {
+        startupState = StartupState::WAIT_JCFG;
+        return;
+      }
       startupState = StartupState::IDLE;
       break;
+    case StartupState::WAIT_JCFG: {
+      if (jcfgCountdown.hasTimedOut()) {
+        startupState = StartupState::IDLE;
+        break;
+      }
+      return;
+    }
     default:
       return;
   }
@@ -419,8 +442,7 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       return returnvalue::OK;
     }
     case (startracker::SUBSCRIPTION): {
-      Subscription subscription;
-      result = prepareParamCommand(commandData, commandDataLen, subscription);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.subscription);
       return returnvalue::OK;
     }
     case (startracker::REQ_SOLUTION): {
@@ -436,68 +458,55 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       return returnvalue::OK;
     }
     case (startracker::LIMITS): {
-      Limits limits;
-      result = prepareParamCommand(commandData, commandDataLen, limits);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.limits);
       return result;
     }
     case (startracker::MOUNTING): {
-      Mounting mounting;
-      result = prepareParamCommand(commandData, commandDataLen, mounting);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.mounting);
       return result;
     }
     case (startracker::IMAGE_PROCESSOR): {
-      ImageProcessor imageProcessor;
-      result = prepareParamCommand(commandData, commandDataLen, imageProcessor);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.imageProcessor);
       return result;
     }
     case (startracker::CAMERA): {
-      Camera camera;
-      result = prepareParamCommand(commandData, commandDataLen, camera);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.camera);
       return result;
     }
     case (startracker::CENTROIDING): {
-      Centroiding centroiding;
-      result = prepareParamCommand(commandData, commandDataLen, centroiding);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.centroiding);
       return result;
     }
     case (startracker::LISA): {
-      Lisa lisa;
-      result = prepareParamCommand(commandData, commandDataLen, lisa);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.lisa);
       return result;
     }
     case (startracker::MATCHING): {
-      Matching matching;
-      result = prepareParamCommand(commandData, commandDataLen, matching);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.matching);
       return result;
     }
     case (startracker::VALIDATION): {
-      Validation validation;
-      result = prepareParamCommand(commandData, commandDataLen, validation);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.validation);
       return result;
     }
     case (startracker::ALGO): {
-      Algo algo;
-      result = prepareParamCommand(commandData, commandDataLen, algo);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.algo);
       return result;
     }
     case (startracker::TRACKING): {
-      Tracking tracking;
-      result = prepareParamCommand(commandData, commandDataLen, tracking);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.tracking);
       return result;
     }
     case (startracker::LOGLEVEL): {
-      LogLevel logLevel;
-      result = prepareParamCommand(commandData, commandDataLen, logLevel);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.logLevel);
       return result;
     }
     case (startracker::LOGSUBSCRIPTION): {
-      LogSubscription logSubscription;
-      result = prepareParamCommand(commandData, commandDataLen, logSubscription);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.logSubscription);
       return result;
     }
     case (startracker::DEBUG_CAMERA): {
-      DebugCamera debugCamera;
-      result = prepareParamCommand(commandData, commandDataLen, debugCamera);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.debugCamera);
       return result;
     }
     case (startracker::CHECKSUM): {
@@ -746,6 +755,24 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
   }
 }
 
+void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonFile) {
+  cfgs.tracking.init(paramJsonFile);
+  cfgs.logLevel.init(paramJsonFile);
+  cfgs.logSubscription.init(paramJsonFile);
+  cfgs.debugCamera.init(paramJsonFile);
+  cfgs.algo.init(paramJsonFile);
+  cfgs.validation.init(paramJsonFile);
+  cfgs.matching.init(paramJsonFile);
+  cfgs.lisa.init(paramJsonFile);
+  cfgs.centroiding.init(paramJsonFile);
+  cfgs.camera.init(paramJsonFile);
+  cfgs.imageProcessor.init(paramJsonFile);
+  cfgs.mounting.init(paramJsonFile);
+  cfgs.limits.init(paramJsonFile);
+  cfgs.subscription.init(paramJsonFile);
+  JCFG_DONE = true;
+}
+
 void StarTrackerHandler::bootBootloader() {
   if (internalState == InternalState::IDLE) {
     internalState = InternalState::BOOT_BOOTLOADER;
@@ -1650,6 +1677,7 @@ void StarTrackerHandler::prepareHistogramRequest() {
 ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
                                                       size_t commandDataLen,
                                                       ArcsecJsonParamBase& paramSet) {
+  // Stopwatch watch;
   ReturnValue_t result = returnvalue::OK;
   if (commandDataLen > MAX_PATH_SIZE) {
     return FILE_PATH_TOO_LONG;

linux/devices/startracker/StarTrackerHandler.h

@@ -2,6 +2,9 @@
 #define MISSION_DEVICES_STARTRACKERHANDLER_H_
 
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <linux/devices/startracker/StarTrackerJsonCommands.h>
+
+#include <thread>
 
 #include "ArcsecDatalinkLayer.h"
 #include "ArcsecJsonParamBase.h"
@@ -35,7 +38,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     StrHelper* strHelper, power::Switch_t powerSwitch);
+                     const char* jsonFileStr, StrHelper* strHelper, power::Switch_t powerSwitch);
   virtual ~StarTrackerHandler();
 
   ReturnValue_t initialize() override;
@@ -216,15 +219,29 @@ class StarTrackerHandler : public DeviceHandlerBase {
   // Loading firmware requires some time and the command will not trigger a reply when executed
   Countdown bootCountdown;
 
-#ifdef EGSE
-  std::string paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
-#else
-#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
-  std::string paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
-#else
-  std::string paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
-#endif
-#endif
+  struct JsonConfigs {
+    Tracking tracking;
+    LogLevel logLevel;
+    LogSubscription logSubscription;
+    DebugCamera debugCamera;
+    Algo algo;
+    Validation validation;
+    Matching matching;
+    Lisa lisa;
+    Centroiding centroiding;
+    Camera camera;
+    ImageProcessor imageProcessor;
+    Mounting mounting;
+    Limits limits;
+    Subscription subscription;
+  };
+  JsonConfigs jcfgs;
+  Countdown jcfgCountdown = Countdown(250);
+  bool commandExecuted = false;
+  std::thread jsonCfgTask;
+  static void setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonFile);
+
+  std::string paramJsonFile;
 
   enum class NormalState { TEMPERATURE_REQUEST, SOLUTION_REQUEST };
 
@@ -262,7 +279,14 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   InternalState internalState = InternalState::IDLE;
 
-  enum class StartupState { IDLE, CHECK_PROGRAM, WAIT_CHECK_PROGRAM, BOOT_BOOTLOADER, DONE };
+  enum class StartupState {
+    IDLE,
+    CHECK_PROGRAM,
+    WAIT_CHECK_PROGRAM,
+    BOOT_BOOTLOADER,
+    WAIT_JCFG,
+    DONE
+  };
 
   StartupState startupState = StartupState::IDLE;
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 267 translations.
+ * @brief    Auto-generated event translation file. Contains 269 translations.
  * @details
- * Generated on: 2023-03-02 17:08:11
+ * Generated on: 2023-03-08 16:44:32
  */
 #include "translateEvents.h"
 
@@ -257,6 +257,8 @@ 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 *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";
@@ -774,6 +776,10 @@ 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 (14100):
       return NO_VALID_SENSOR_TEMPERATURE_STRING;
     case (14101):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 162 translations.
- * Generated on: 2023-03-02 17:08:11
+ * Contains 164 translations.
+ * Generated on: 2023-03-08 16:44:32
  */
 #include "translateObjects.h"
 
@@ -150,6 +150,8 @@ const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_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";
@@ -459,6 +461,10 @@ const char *translateObject(object_id_t object) {
       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:

mission/acsDefs.h

@@ -18,6 +18,8 @@ enum AcsMode : Mode_t {
   PTG_INERTIAL = 16,
 };
 
+// static constexpr uint8_t ACS_SYSTEM_DETUMBLE_SUBMODE = 1;
+
 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
 //!< The limits for the rotation in safe mode were violated.
 static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);

mission/controller/AcsController.cpp

@@ -198,9 +198,9 @@ void AcsController::performSafe() {
 
   updateCtrlValData(errAng);
   updateActuatorCmdData(cmdDipolMtqs);
-  //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
-  //                   acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
-  //                   acsParameters.rwHandlingParameters.rampTime);
+  // commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2]/*500, 500, 500*/,
+  //                  acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
+  //                  acsParameters.rwHandlingParameters.rampTime);
 }
 
 void AcsController::performDetumble() {
@@ -264,8 +264,9 @@ void AcsController::performPointingCtrl() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
-    if (mekfInvalidCounter > 4) {
-      triggerEvent(acs::MEKF_INVALID_MODE_VIOLATION);
+    if (mekfInvalidCounter == 5) {
+      // Trigger this so STR FDIR can set the device faulty.
+      EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
     }
     mekfInvalidCounter++;
     //    commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
@@ -281,7 +282,7 @@ void AcsController::performPointingCtrl() {
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
   if (result == returnvalue::FAILED) {
-    if (multipleRwUnavailableCounter > 4) {
+    if (multipleRwUnavailableCounter == 5) {
       triggerEvent(acs::MULTIPLE_RW_INVALID);
     }
     multipleRwUnavailableCounter++;

mission/controller/AcsController.h

@@ -4,6 +4,7 @@
 #include <eive/objects.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <fsfw/health/HealthTable.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 #include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>

mission/controller/acs/Guidance.cpp

@@ -540,8 +540,10 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
 }
 
 void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
-  if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE) or
-      not std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {  // ToDo: if file does not exist anymore
+  std::error_code e;
+  if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or
+      not std::filesystem::exists(SD_1_SKEWED_PTG_FILE,
+                                  e)) {  // ToDo: if file does not exist anymore
     std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
                 3 * sizeof(double));
   } else {
@@ -553,15 +555,16 @@ void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3
 }
 
 ReturnValue_t Guidance::solarArrayDeploymentComplete() {
-  if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE)) {
+  std::error_code e;
+  if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
     std::remove(SD_0_SKEWED_PTG_FILE);
-    if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE)) {
+    if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
       return returnvalue::FAILED;
     }
   }
-  if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {
+  if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
     std::remove(SD_1_SKEWED_PTG_FILE);
-    if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) {
+    if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
       return returnvalue::FAILED;
     }
   }

mission/devices/GyrAdis1650XHandler.cpp

@@ -48,7 +48,7 @@ void GyrAdis1650XHandler::doShutDown() {
     updatePeriodicReply(false, adis1650x::REPLY);
     internalState = InternalState::NONE;
     commandExecuted = false;
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
   }
 }
 
@@ -90,7 +90,8 @@ void GyrAdis1650XHandler::fillCommandAndReplyMap() {
 
 ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
                                                 DeviceCommandId_t *foundId, size_t *foundLen) {
-  if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
+  if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or
+      getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
   if (remainingSize != sizeof(acs::Adis1650XReply)) {

mission/devices/GyrL3gCustomHandler.cpp

@@ -44,7 +44,7 @@ void GyrL3gCustomHandler::doShutDown() {
     internalState = InternalState::NONE;
     updatePeriodicReply(false, l3gd20h::REPLY);
     commandExecuted = false;
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
   }
 }
 
@@ -100,7 +100,7 @@ ReturnValue_t GyrL3gCustomHandler::buildCommandFromCommand(DeviceCommandId_t dev
 
 ReturnValue_t GyrL3gCustomHandler::scanForReply(const uint8_t *start, size_t len,
                                                 DeviceCommandId_t *foundId, size_t *foundLen) {
-  if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
+  if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
   if (len != sizeof(acs::GyroL3gReply)) {

mission/devices/ImtqHandler.cpp

@@ -53,6 +53,13 @@ ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
 
 ReturnValue_t ImtqHandler::performOperation(uint8_t opCode) {
   uint8_t dhbOpCode = DeviceHandlerIF::PERFORM_OPERATION;
+  auto actuateStep = [&]() {
+    if (ignoreActForRestOfComSteps) {
+      requestStep = imtq::RequestType::DO_NOTHING;
+    } else {
+      requestStep = imtq::RequestType::ACTUATE;
+    }
+  };
   switch (static_cast<imtq::ComStep>(opCode)) {
     case (imtq::ComStep::DHB_OP): {
       break;
@@ -78,22 +85,38 @@ ReturnValue_t ImtqHandler::performOperation(uint8_t opCode) {
       break;
     }
     case (imtq::ComStep::START_ACTUATE_SEND): {
-      requestStep = imtq::RequestType::ACTUATE;
+      if (manualTorqueCmdActive) {
+        if (manuallyCommandedTorqueDuration.isBusy()) {
+          ignoreActForRestOfComSteps = true;
+          requestStep = imtq::RequestType::DO_NOTHING;
+        } else {
+          manualTorqueCmdActive = false;
+          PoolReadGuard pg(&dipoleSet);
+          dipoleSet.dipoles[0] = 0;
+          dipoleSet.dipoles[1] = 0;
+          dipoleSet.dipoles[2] = 0;
+          dipoleSet.currentTorqueDurationMs = 0;
+          requestStep = imtq::RequestType::ACTUATE;
+          ignoreActForRestOfComSteps = false;
+        }
+      } else {
+        requestStep = imtq::RequestType::ACTUATE;
+      }
       dhbOpCode = DeviceHandlerIF::SEND_WRITE;
       break;
     }
     case (imtq::ComStep::START_ACTUATE_GET): {
-      requestStep = imtq::RequestType::ACTUATE;
+      actuateStep();
       dhbOpCode = DeviceHandlerIF::GET_WRITE;
       break;
     }
     case (imtq::ComStep::READ_ACTUATE_SEND): {
-      requestStep = imtq::RequestType::ACTUATE;
+      actuateStep();
       dhbOpCode = DeviceHandlerIF::SEND_READ;
       break;
     }
     case (imtq::ComStep::READ_ACTUATE_GET): {
-      requestStep = imtq::RequestType::ACTUATE;
+      actuateStep();
       dhbOpCode = DeviceHandlerIF::GET_READ;
       break;
     }
@@ -108,18 +131,37 @@ ReturnValue_t ImtqHandler::performOperation(uint8_t opCode) {
 ImtqHandler::~ImtqHandler() = default;
 
 void ImtqHandler::doStartUp() {
-  updatePeriodicReply(true, imtq::cmdIds::REPLY);
-  if (goToNormalMode) {
-    setMode(MODE_NORMAL);
-  } else {
-    setMode(_MODE_TO_ON);
+  if (internalState != InternalState::STARTUP) {
+    commandExecuted = false;
+    updatePeriodicReply(true, imtq::cmdIds::REPLY_NO_TORQUE);
+    updatePeriodicReply(true, imtq::cmdIds::REPLY_WITH_TORQUE);
+    internalState = InternalState::STARTUP;
+  }
+  if (internalState == InternalState::STARTUP) {
+    if (commandExecuted) {
+      if (goToNormalMode) {
+        setMode(MODE_NORMAL);
+      } else {
+        setMode(_MODE_TO_ON);
+      }
+      commandExecuted = false;
+    }
   }
 }
 
 void ImtqHandler::doShutDown() {
-  updatePeriodicReply(false, imtq::cmdIds::REPLY);
+  updatePeriodicReply(false, imtq::cmdIds::REPLY_NO_TORQUE);
+  updatePeriodicReply(false, imtq::cmdIds::REPLY_WITH_TORQUE);
   specialRequestActive = false;
   firstReplyCycle = true;
+  internalState = InternalState::NONE;
+  commandExecuted = false;
+  statusSet.setValidity(false, true);
+  rawMtmNoTorque.setValidity(false, true);
+  rawMtmWithTorque.setValidity(false, true);
+  hkDatasetNoTorque.setValidity(false, true);
+  hkDatasetWithTorque.setValidity(false, true);
+  calMtmMeasurementSet.setValidity(false, true);
   setMode(_MODE_POWER_DOWN);
 }
 
@@ -133,11 +175,24 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       *id = imtq::cmdIds::START_ACTUATION_DIPOLE;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
+    default: {
+      *id = imtq::cmdIds::REQUEST;
+      request.request = imtq::RequestType::DO_NOTHING;
+      request.specialRequest = imtq::SpecialRequest::NONE;
+      expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
+      rawPacket = reinterpret_cast<uint8_t*>(&request);
+      rawPacketLen = sizeof(imtq::Request);
+      return returnvalue::OK;
+    }
   }
   return NOTHING_TO_SEND;
 }
 
 ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (internalState == InternalState::STARTUP) {
+    *id = imtq::cmdIds::REQUEST;
+    return buildCommandFromCommand(*id, nullptr, 0);
+  }
   return NOTHING_TO_SEND;
 }
 
@@ -145,11 +200,12 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
                                                    const uint8_t* commandData,
                                                    size_t commandDataLen) {
   auto genericSpecialRequest = [&](imtq::SpecialRequest specialRequest) {
-    ImtqRequest request(commandBuffer, sizeof(commandBuffer));
-    request.setMeasureRequest(specialRequest);
+    request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
+    request.specialRequest = specialRequest;
+    expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
     specialRequestActive = true;
-    rawPacket = commandBuffer;
-    rawPacketLen = ImtqRequest::REQUEST_LEN;
+    rawPacket = reinterpret_cast<uint8_t*>(&request);
+    rawPacketLen = sizeof(imtq::Request);
   };
   switch (deviceCommand) {
     case (imtq::cmdIds::POS_X_SELF_TEST): {
@@ -181,45 +237,50 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
       return returnvalue::OK;
     }
     case (imtq::cmdIds::REQUEST): {
-      ImtqRequest request(commandBuffer, sizeof(commandBuffer));
-      request.setMeasureRequest(imtq::SpecialRequest::NONE);
-      rawPacket = commandBuffer;
-      rawPacketLen = ImtqRequest::REQUEST_LEN;
+      request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
+      request.specialRequest = imtq::SpecialRequest::NONE;
+      expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
+      rawPacket = reinterpret_cast<uint8_t*>(&request);
+      rawPacketLen = sizeof(imtq::Request);
       return returnvalue::OK;
     }
     case (imtq::cmdIds::START_ACTUATION_DIPOLE): {
-      /* IMTQ expects low byte first */
-      // commandBuffer[0] = imtq::CC::START_ACTUATION_DIPOLE;
       if (commandData != nullptr && commandDataLen < 8) {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
       }
-      ImtqRequest request(commandBuffer, sizeof(commandBuffer));
-      // Commands override anything which was set in the software
-      if (commandData != nullptr) {
-        // Read set dipole values from local pool
+      {
+        // Do this in any case to read values which might be commanded by the ACS controller.
         PoolReadGuard pg(&dipoleSet);
-
-        int16_t xDipole = 0, yDipole = 0, zDipole = 0;
-        uint16_t torqueDuration = 0;
-        dipoleSet.xDipole = xDipole;
-        dipoleSet.yDipole = yDipole;
-        dipoleSet.zDipole = zDipole;
-        dipoleSet.currentTorqueDurationMs = torqueDuration;
+        // Commands override anything which was set in the software
+        if (commandData != nullptr) {
+          dipoleSet.setValidityBufferGeneration(false);
+          ReturnValue_t result = dipoleSet.deSerialize(&commandData, &commandDataLen,
+                                                       SerializeIF::Endianness::NETWORK);
+          dipoleSet.setValidityBufferGeneration(true);
+          if (result != returnvalue::OK) {
+            return result;
+          }
+          manualTorqueCmdActive = true;
+          manuallyCommandedTorqueDuration.setTimeout(dipoleSet.currentTorqueDurationMs.value);
+        }
       }
 
-      request.setActuateRequest(dipoleSet.xDipole.value, dipoleSet.yDipole.value,
-                                dipoleSet.zDipole.value, dipoleSet.currentTorqueDurationMs.value);
+      expectedReply = imtq::cmdIds::REPLY_WITH_TORQUE;
+      request.request = imtq::RequestType::ACTUATE;
+      request.specialRequest = imtq::SpecialRequest::NONE;
+      std::memcpy(request.dipoles, dipoleSet.dipoles.value, sizeof(request.dipoles));
+      request.torqueDuration = dipoleSet.currentTorqueDurationMs.value;
       if (ACTUATION_WIRETAPPING) {
-        sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.xDipole.value
-                   << ", y = " << dipoleSet.yDipole.value << ", z = " << dipoleSet.zDipole.value
+        sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.dipoles[0]
+                   << ", y = " << dipoleSet.dipoles[1] << ", z = " << dipoleSet.dipoles[2]
                    << ", duration = " << dipoleSet.currentTorqueDurationMs.value << std::endl;
       }
       MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
                     torquer::LOCK_CTX);
       torquer::TORQUEING = true;
       torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
-      rawPacket = commandBuffer;
-      rawPacketLen = ImtqRequest::REQUEST_LEN;
+      rawPacket = reinterpret_cast<uint8_t*>(&request);
+      rawPacketLen = sizeof(imtq::Request);
       return returnvalue::OK;
     }
     default:
@@ -231,7 +292,8 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
 void ImtqHandler::fillCommandAndReplyMap() {
   insertInCommandMap(imtq::cmdIds::REQUEST);
   insertInCommandMap(imtq::cmdIds::START_ACTUATION_DIPOLE);
-  insertInReplyMap(imtq::cmdIds::REPLY, 5, nullptr, 0, true);
+  insertInReplyMap(imtq::cmdIds::REPLY_NO_TORQUE, 5, nullptr, 0, true);
+  insertInReplyMap(imtq::cmdIds::REPLY_WITH_TORQUE, 20, nullptr, 0, true);
   insertInCommandMap(imtq::cmdIds::POS_X_SELF_TEST);
   insertInCommandMap(imtq::cmdIds::NEG_X_SELF_TEST);
   insertInCommandMap(imtq::cmdIds::POS_Y_SELF_TEST);
@@ -243,12 +305,12 @@ void ImtqHandler::fillCommandAndReplyMap() {
 
 ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                         DeviceCommandId_t* foundId, size_t* foundLen) {
-  if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
+  if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
   if (remainingSize > 0) {
     *foundLen = remainingSize;
-    *foundId = imtq::cmdIds::REPLY;
+    *foundId = expectedReply;
     return returnvalue::OK;
   }
   return returnvalue::FAILED;
@@ -258,14 +320,20 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
   ReturnValue_t result;
   ReturnValue_t status = returnvalue::OK;
   if (getMode() != MODE_NORMAL) {
-    // Ignore replies during transitions.
+    if (expectedReply == imtq::cmdIds::REPLY_NO_TORQUE) {
+      ImtqRepliesDefault replies(packet);
+      if (replies.devWasConfigured() and internalState == InternalState::STARTUP) {
+        commandExecuted = true;
+      }
+    }
     return returnvalue::OK;
   }
-  // arrayprinter::print(packet, ImtqReplies::BASE_LEN);
-  if (requestStep == imtq::RequestType::MEASURE_NO_ACTUATION) {
-    requestStep = imtq::RequestType::ACTUATE;
+  if (expectedReply == imtq::cmdIds::REPLY_NO_TORQUE) {
     // sif::debug << "handle measure" << std::endl;
     ImtqRepliesDefault replies(packet);
+    if (replies.devWasConfigured() and internalState == InternalState::STARTUP) {
+      commandExecuted = true;
+    }
     if (specialRequestActive) {
       if (replies.wasSpecialRequestRead()) {
         uint8_t* specialRequest = replies.getSpecialRequest();
@@ -308,7 +376,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
     }
 
     if (not replies.wasGetRawMgmMeasurementRead() and not firstReplyCycle) {
-      sif::warning << "IMTQ: Possible timing issue, system state was not read" << std::endl;
+      sif::warning << "IMTQ: Possible timing issue, raw MGM measurement was not read" << std::endl;
     }
     uint8_t* rawMgmMeasurement = replies.getRawMgmMeasurement();
     result = parseStatusByte(imtq::CC::GET_RAW_MTM_MEASUREMENT, rawMgmMeasurement);
@@ -319,7 +387,8 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
     }
 
     if (not replies.wasCalibMgmMeasurementRead() and not firstReplyCycle) {
-      sif::warning << "IMTQ: Possible timing issue, system state was not read" << std::endl;
+      sif::warning << "IMTQ: Possible timing issue, calib MGM measurement was not read"
+                   << std::endl;
     }
     uint8_t* calibMgmMeasurement = replies.getCalibMgmMeasurement();
     result = parseStatusByte(imtq::CC::GET_CAL_MTM_MEASUREMENT, calibMgmMeasurement);
@@ -328,9 +397,8 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
     } else {
       status = result;
     }
-  } else {
+  } else if (expectedReply == imtq::cmdIds::REPLY_WITH_TORQUE) {
     // sif::debug << "handle measure with torque" << std::endl;
-    requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
     ImtqRepliesWithTorque replies(packet);
     if (replies.wasDipoleActuationRead()) {
       parseStatusByte(imtq::CC::START_ACTUATION_DIPOLE, replies.getDipoleActuation());
@@ -375,6 +443,8 @@ LocalPoolDataSetBase* ImtqHandler::getDataSetHandle(sid_t sid) {
     return &hkDatasetNoTorque;
   } else if (sid == dipoleSet.getSid()) {
     return &dipoleSet;
+  } else if (sid == statusSet.getSid()) {
+    return &statusSet;
   } else if (sid == hkDatasetWithTorque.getSid()) {
     return &hkDatasetWithTorque;
   } else if (sid == rawMtmWithTorque.getSid()) {
@@ -410,21 +480,26 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
   localDataPoolMap.emplace(imtq::STATUS_BYTE_CONF, &statusConfig);
   localDataPoolMap.emplace(imtq::STATUS_BYTE_ERROR, &statusError);
   localDataPoolMap.emplace(imtq::STATUS_BYTE_UPTIME, &statusUptime);
+
+  // ENG HK No Torque
   localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
   localDataPoolMap.emplace(imtq::DIGITAL_CURRENT, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(imtq::ANALOG_CURRENT, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(imtq::COIL_X_CURRENT, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(imtq::COIL_Y_CURRENT, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(imtq::COIL_Z_CURRENT, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(imtq::COIL_X_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(imtq::COIL_Y_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(imtq::COIL_Z_TEMPERATURE, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS, &coilCurrentsMilliampsNoTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES, &coilTempsNoTorque);
   localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
 
-  localDataPoolMap.emplace(imtq::DIPOLES_X, &dipoleXEntry);
-  localDataPoolMap.emplace(imtq::DIPOLES_Y, &dipoleYEntry);
-  localDataPoolMap.emplace(imtq::DIPOLES_Z, &dipoleZEntry);
+  // ENG HK With Torque
+  localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::DIGITAL_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS_WT, &coilCurrentsMilliampsWithTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES_WT, &coilTempsWithTorque);
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
+
+  localDataPoolMap.emplace(imtq::DIPOLES_ID, &dipolesPoolEntry);
   localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, &torqueDurationEntry);
 
   /** Entries of calibrated MTM measurement dataset */
@@ -432,8 +507,11 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
   localDataPoolMap.emplace(imtq::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>({0}));
 
   /** Entries of raw MTM measurement dataset */
-  localDataPoolMap.emplace(imtq::MTM_RAW, new PoolEntry<float>(3));
-  localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(imtq::MTM_RAW, &mtmRawNoTorque);
+  localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, &actStatusNoTorque);
+
+  localDataPoolMap.emplace(imtq::MTM_RAW_WT, &mtmRawWithTorque);
+  localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS_WT, &actStatusWithTorque);
 
   /** INIT measurements for positive X axis test */
   localDataPoolMap.emplace(imtq::INIT_POS_X_ERR, new PoolEntry<uint8_t>({0}));
@@ -709,6 +787,10 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat
       subdp::DiagnosticsHkPeriodicParams(rawMtmWithTorque.getSid(), false, 10.0));
   poolManager.subscribeForDiagPeriodicPacket(
       subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(statusSet.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(dipoleSet.getSid(), false, 10.0));
   return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }
 
@@ -732,7 +814,7 @@ ReturnValue_t ImtqHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
 }
 
 ReturnValue_t ImtqHandler::parseStatusByte(imtq::CC::CC command, const uint8_t* packet) {
-  uint8_t cmdErrorField = *(packet + 1) & 0xF;
+  uint8_t cmdErrorField = packet[1] & 0xF;
   if (cmdErrorField == 0) {
     return returnvalue::OK;
   }
@@ -755,16 +837,20 @@ ReturnValue_t ImtqHandler::parseStatusByte(imtq::CC::CC command, const uint8_t*
                  << " has invalid parameter" << std::endl;
       return imtq::PARAMETER_INVALID;
     case 5:
-      sif::error << "IMTQ::parseStatusByte: CC 0x" << std::setw(2) << " unavailable" << std::endl;
+      sif::error << "IMTQ::parseStatusByte: CC 0x" << std::setw(2) << command << " unavailable"
+                 << std::endl;
       return imtq::CC_UNAVAILABLE;
     case 7:
-      sif::error << "IMTQ::parseStatusByte: IMTQ replied internal processing error" << std::endl;
+      sif::error << "IMTQ::parseStatusByte: Internal processing error for command 0x"
+                 << std::setw(2) << command << std::endl;
       return imtq::INTERNAL_PROCESSING_ERROR;
     default:
-      sif::error << "IMTQ::parseStatusByte: CMD Error field contains unknown error code 0x"
-                 << static_cast<int>(cmdErrorField) << std::endl;
+      sif::error << "IMTQ::parseStatusByte: CMD error field for command 0x" << std::setw(2)
+                 << command << " contains unknown error code 0x" << static_cast<int>(cmdErrorField)
+                 << std::endl;
       return imtq::CMD_ERR_UNKNOWN;
   }
+  sif::error << std::dec;
 }
 
 void ImtqHandler::fillEngHkDataset(imtq::HkDataset& hkDataset, const uint8_t* packet) {
@@ -778,20 +864,20 @@ void ImtqHandler::fillEngHkDataset(imtq::HkDataset& hkDataset, const uint8_t* pa
   offset += 2;
   hkDataset.analogCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
   offset += 2;
-  hkDataset.coilXCurrentmA =
+  hkDataset.coilCurrentsMilliamps[0] =
       static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
   offset += 2;
-  hkDataset.coilYCurrentmA =
+  hkDataset.coilCurrentsMilliamps[1] =
       static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
   offset += 2;
-  hkDataset.coilZCurrentmA =
+  hkDataset.coilCurrentsMilliamps[2] =
       static_cast<int16_t>(*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
   offset += 2;
-  hkDataset.coilXTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
+  hkDataset.coilTemperatures[0] = (*(packet + offset + 1) << 8 | *(packet + offset));
   offset += 2;
-  hkDataset.coilYTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
+  hkDataset.coilTemperatures[1] = (*(packet + offset + 1) << 8 | *(packet + offset));
   offset += 2;
-  hkDataset.coilZTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
+  hkDataset.coilTemperatures[2] = (*(packet + offset + 1) << 8 | *(packet + offset));
   offset += 2;
   size_t dummy = 2;
   SerializeAdapter::deSerialize(&hkDataset.mcuTemperature.value, packet + offset, &dummy,
@@ -805,12 +891,15 @@ void ImtqHandler::fillEngHkDataset(imtq::HkDataset& hkDataset, const uint8_t* pa
     sif::info << "IMTQ analog voltage: " << hkDataset.analogVoltageMv << " mV" << std::endl;
     sif::info << "IMTQ digital current: " << hkDataset.digitalCurrentmA << " mA" << std::endl;
     sif::info << "IMTQ analog current: " << hkDataset.analogCurrentmA << " mA" << std::endl;
-    sif::info << "IMTQ coil X current: " << hkDataset.coilXCurrentmA << " mA" << std::endl;
-    sif::info << "IMTQ coil Y current: " << hkDataset.coilYCurrentmA << " mA" << std::endl;
-    sif::info << "IMTQ coil Z current: " << hkDataset.coilZCurrentmA << " mA" << std::endl;
-    sif::info << "IMTQ coil X temperature: " << hkDataset.coilXTemperature << " °C" << std::endl;
-    sif::info << "IMTQ coil Y temperature: " << hkDataset.coilYTemperature << " °C" << std::endl;
-    sif::info << "IMTQ coil Z temperature: " << hkDataset.coilZTemperature << " °C" << std::endl;
+    sif::info << "IMTQ coil X current: " << hkDataset.coilCurrentsMilliamps[0] << " mA"
+              << std::endl;
+    sif::info << "IMTQ coil Y current: " << hkDataset.coilCurrentsMilliamps[1] << " mA"
+              << std::endl;
+    sif::info << "IMTQ coil Z current: " << hkDataset.coilCurrentsMilliamps[2] << " mA"
+              << std::endl;
+    sif::info << "IMTQ coil X temperature: " << hkDataset.coilTemperatures[0] << " °C" << std::endl;
+    sif::info << "IMTQ coil Y temperature: " << hkDataset.coilTemperatures[1] << " °C" << std::endl;
+    sif::info << "IMTQ coil Z temperature: " << hkDataset.coilTemperatures[2] << " °C" << std::endl;
     sif::info << "IMTQ coil MCU temperature: " << hkDataset.mcuTemperature << " °C" << std::endl;
 #endif
   }
@@ -851,7 +940,7 @@ void ImtqHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
 void ImtqHandler::fillRawMtmDataset(imtq::RawMtmMeasurementSet& set, const uint8_t* packet) {
   PoolReadGuard rg(&set);
   if (rg.getReadResult() != returnvalue::OK) {
-    sif::error << "ImtqHandler::fillRawMtmDataset: Lock failure" << std::endl;
+    sif::error << "ImtqHandler::fillRawMtmDataset: Read failure" << std::endl;
   }
   unsigned int offset = 2;
   size_t deSerLen = 16;
@@ -887,6 +976,7 @@ void ImtqHandler::fillRawMtmDataset(imtq::RawMtmMeasurementSet& set, const uint8
   set.setValidity(true, true);
   if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "Set ID: " << set.getSid().ownerSetId << std::endl;
     sif::info << "IMTQ raw MTM measurement X: " << set.mtmRawNt[0] << " nT" << std::endl;
     sif::info << "IMTQ raw MTM measurement Y: " << set.mtmRawNt[1] << " nT" << std::endl;
     sif::info << "IMTQ raw MTM measurement Z: " << set.mtmRawNt[2] << " nT" << std::endl;

mission/devices/ImtqHandler.h

@@ -83,6 +83,11 @@ class ImtqHandler : public DeviceHandlerBase {
   //! link between IMTQ and OBC.
   static const Event INVALID_ERROR_BYTE = MAKE_EVENT(8, severity::LOW);
 
+  enum class InternalState { NONE, STARTUP, SHUTDOWN } internalState = InternalState::NONE;
+  bool commandExecuted = false;
+
+  imtq::Request request{};
+
   imtq::StatusDataset statusSet;
   imtq::DipoleActuationSet dipoleSet;
   imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
@@ -98,6 +103,9 @@ class ImtqHandler : public DeviceHandlerBase {
   imtq::NegYSelfTestSet negYselfTestDataset;
   imtq::PosZSelfTestSet posZselfTestDataset;
   imtq::NegZSelfTestSet negZselfTestDataset;
+  bool manualTorqueCmdActive = false;
+  bool ignoreActForRestOfComSteps = false;
+  Countdown manuallyCommandedTorqueDuration = Countdown();
 
   NormalPollingMode pollingMode = NormalPollingMode::UNCALIBRATED;
 
@@ -107,13 +115,20 @@ class ImtqHandler : public DeviceHandlerBase {
   PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
 
   PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
-  PoolEntry<int16_t> dipoleXEntry = PoolEntry<int16_t>(0, false);
-  PoolEntry<int16_t> dipoleYEntry = PoolEntry<int16_t>(0, false);
-  PoolEntry<int16_t> dipoleZEntry = PoolEntry<int16_t>(0, false);
-  PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>(0, false);
+  PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
+  PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
+  PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
+  PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
+  PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
+  PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
+  PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
+  PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
+
   power::Switch_t switcher = power::NO_SWITCH;
 
-  uint8_t commandBuffer[imtq::MAX_COMMAND_SIZE];
+  DeviceCommandId_t expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
   bool goToNormalMode = false;
   bool debugMode = false;
   bool specialRequestActive = false;

mission/devices/MgmLis3CustomHandler.cpp

@@ -37,7 +37,7 @@ void MgmLis3CustomHandler::doShutDown() {
     updatePeriodicReply(false, REPLY);
     commandExecuted = false;
     internalState = InternalState::NONE;
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
   }
 }
 

mission/devices/MgmRm3100CustomHandler.cpp

@@ -38,7 +38,7 @@ void MgmRm3100CustomHandler::doShutDown() {
   }
   if (internalState == InternalState::SHUTDOWN and commandExecuted) {
     updatePeriodicReply(false, REPLY);
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
     commandExecuted = false;
   }
 }

mission/devices/RwHandler.cpp

@@ -366,9 +366,8 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
   statusSet.setValidity(true, true);
 
   if (statusSet.state == rws::STATE_ERROR) {
-    // This requires the commanding of the init reaction wheel controller command to recover
-    // from error state which must be handled by the FDIR instance.
-    triggerEvent(rws::ERROR_STATE, statusSet.state.value, 0);
+    // Trigger FDIR reaction, first recovery, then faulty if it doesnt fix the issue.
+    triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT, statusSet.state.value, 0);
     sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
   }
 

mission/devices/ScexDeviceHandler.cpp

@@ -319,11 +319,14 @@ void ScexDeviceHandler::performOperationHook() {
   auto mntPrefix = sdcMan.getCurrentMountPrefix();
   if (mntPrefix != nullptr) {
     std::filesystem::path fullFilePath = mntPrefix;
+    std::error_code e;
     fullFilePath /= "scex";
-    bool fileExists = std::filesystem::exists(fullFilePath);
-
+    bool fileExists = std::filesystem::exists(fullFilePath, e);
     if (not fileExists) {
-      std::filesystem::create_directory(fullFilePath);
+      bool created = std::filesystem::create_directory(fullFilePath, e);
+      if (not created) {
+        sif::error << "Could not create SCEX directory: " << e << std::endl;
+      }
     }
   }
   uint32_t remainingMillis = finishCountdown.getRemainingMillis();

mission/devices/SolarArrayDeploymentHandler.cpp

@@ -43,15 +43,16 @@ ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCod
 #endif
   if (opDivider.checkAndIncrement()) {
     auto activeSdc = sdcMan.getActiveSdCard();
+    std::error_code e;
     if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_0 and
         sdcMan.isSdCardUsable(activeSdc.value())) {
-      if (exists(SD_0_DEPL_FILE)) {
+      if (exists(SD_0_DEPL_FILE, e)) {
         // perform autonomous deployment handling
         performAutonomousDepl(sd::SdCard::SLOT_0, dryRunStringInFile(SD_0_DEPL_FILE));
       }
     } else if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_1 and
                sdcMan.isSdCardUsable(activeSdc.value())) {
-      if (exists(SD_1_DEPL_FILE)) {
+      if (exists(SD_1_DEPL_FILE, e)) {
         // perform autonomous deployment handling
         performAutonomousDepl(sd::SdCard::SLOT_1, dryRunStringInFile(SD_1_DEPL_FILE));
       }
@@ -137,15 +138,16 @@ ReturnValue_t SolarArrayDeploymentHandler::performAutonomousDepl(sd::SdCard sdCa
     of << "phase: init\n";
     of << "secs_since_start: 0\n";
   };
+  std::error_code e;
   if (sdCard == sd::SdCard::SLOT_0) {
-    if (not exists(SD_0_DEPLY_INFO)) {
+    if (not exists(SD_0_DEPLY_INFO, e)) {
       initFile(SD_0_DEPLY_INFO);
     }
     if (not autonomousDeplForFile(sd::SdCard::SLOT_0, SD_0_DEPLY_INFO, dryRun)) {
       initFile(SD_0_DEPLY_INFO);
     }
   } else if (sdCard == sd::SdCard::SLOT_1) {
-    if (not exists(SD_1_DEPLY_INFO)) {
+    if (not exists(SD_1_DEPLY_INFO, e)) {
       initFile(SD_1_DEPLY_INFO);
     }
     if (not autonomousDeplForFile(sd::SdCard::SLOT_1, SD_1_DEPLY_INFO, dryRun)) {

mission/devices/devicedefinitions/imtqHelpers.h

@@ -10,19 +10,7 @@ class ImtqHandler;
 
 namespace imtq {
 
-enum ComStep : uint8_t {
-  DHB_OP = 0,
-  START_MEASURE_SEND = 1,
-  START_MEASURE_GET = 2,
-  READ_MEASURE_SEND = 3,
-  READ_MEASURE_GET = 4,
-  START_ACTUATE_SEND = 5,
-  START_ACTUATE_GET = 6,
-  READ_ACTUATE_SEND = 7,
-  READ_ACTUATE_GET = 8,
-};
-
-enum class RequestType : uint8_t { MEASURE_NO_ACTUATION, ACTUATE };
+enum class RequestType : uint8_t { MEASURE_NO_ACTUATION, ACTUATE, DO_NOTHING };
 
 enum class SpecialRequest : uint8_t {
   NONE = 0,
@@ -35,6 +23,26 @@ enum class SpecialRequest : uint8_t {
   GET_SELF_TEST_RESULT = 7
 };
 
+struct Request {
+  imtq::RequestType request = imtq::RequestType::MEASURE_NO_ACTUATION;
+  imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
+  uint8_t integrationTimeSel = 3;
+  int16_t dipoles[3]{};
+  uint16_t torqueDuration = 0;
+};
+
+enum ComStep : uint8_t {
+  DHB_OP = 0,
+  START_MEASURE_SEND = 1,
+  START_MEASURE_GET = 2,
+  READ_MEASURE_SEND = 3,
+  READ_MEASURE_GET = 4,
+  START_ACTUATE_SEND = 5,
+  START_ACTUATE_GET = 6,
+  READ_ACTUATE_SEND = 7,
+  READ_ACTUATE_GET = 8,
+};
+
 static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
 
 static constexpr ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0);
@@ -53,7 +61,8 @@ static const ReturnValue_t UNEXPECTED_SELF_TEST_REPLY = MAKE_RETURN_CODE(0xA7);
 namespace cmdIds {
 
 static constexpr DeviceCommandId_t REQUEST = 0x70;
-static constexpr DeviceCommandId_t REPLY = 0x71;
+static constexpr DeviceCommandId_t REPLY_NO_TORQUE = 0x71;
+static constexpr DeviceCommandId_t REPLY_WITH_TORQUE = 0x72;
 static const DeviceCommandId_t START_ACTUATION_DIPOLE = 0x2;
 static const DeviceCommandId_t POS_X_SELF_TEST = 0x7;
 static const DeviceCommandId_t NEG_X_SELF_TEST = 0x8;
@@ -195,20 +204,28 @@ enum PoolIds : lp_id_t {
   ANALOG_VOLTAGE_MV,
   DIGITAL_CURRENT,
   ANALOG_CURRENT,
-  COIL_X_CURRENT,
-  COIL_Y_CURRENT,
-  COIL_Z_CURRENT,
-  COIL_X_TEMPERATURE,
-  COIL_Y_TEMPERATURE,
-  COIL_Z_TEMPERATURE,
+  COIL_CURRENTS,
+  COIL_TEMPERATURES,
   MCU_TEMPERATURE,
+
+  DIGITAL_VOLTAGE_MV_WT,
+  ANALOG_VOLTAGE_MV_WT,
+  DIGITAL_CURRENT_WT,
+  ANALOG_CURRENT_WT,
+  COIL_CURRENTS_WT,
+  COIL_TEMPERATURES_WT,
+  MCU_TEMPERATURE_WT,
+
   MGM_CAL_NT,
   ACTUATION_CAL_STATUS,
+
   MTM_RAW,
   ACTUATION_RAW_STATUS,
-  DIPOLES_X,
-  DIPOLES_Y,
-  DIPOLES_Z,
+
+  MTM_RAW_WT,
+  ACTUATION_RAW_STATUS_WT,
+
+  DIPOLES_ID,
   CURRENT_TORQUE_DURATION,
 
   INIT_POS_X_ERR,
@@ -476,34 +493,56 @@ class StatusDataset : public StaticLocalDataSet<4> {
 
 class HkDataset : public StaticLocalDataSet<HK_SET_POOL_ENTRIES> {
  public:
-  HkDataset(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}
+  HkDataset(HasLocalDataPoolIF* owner, uint32_t setId, std::array<lp_id_t, 7> pids)
+      : StaticLocalDataSet(owner, setId),
+        digitalVoltageMv(sid.objectId, pids[0], this),
+        analogVoltageMv(sid.objectId, pids[1], this),
+        digitalCurrentmA(sid.objectId, pids[2], this),
+        analogCurrentmA(sid.objectId, pids[3], this),
+        coilCurrentsMilliamps(sid.objectId, pids[4], this),
+        /** All temperatures in [C] for X, Y, Z */
+        coilTemperatures(sid.objectId, pids[5], this),
+        mcuTemperature(sid.objectId, pids[6], this) {}
 
-  HkDataset(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
+  HkDataset(object_id_t objectId, uint32_t setId, std::array<lp_id_t, 7> pids)
+      : StaticLocalDataSet(sid_t(objectId, setId)),
+        digitalVoltageMv(sid.objectId, pids[0], this),
+        analogVoltageMv(sid.objectId, pids[1], this),
+        digitalCurrentmA(sid.objectId, pids[2], this),
+        analogCurrentmA(sid.objectId, pids[3], this),
+        coilCurrentsMilliamps(sid.objectId, pids[4], this),
+        /** All temperatures in [C] for X, Y, Z */
+        coilTemperatures(sid.objectId, pids[5], this),
+        mcuTemperature(sid.objectId, pids[6], this) {}
 
   // Engineering HK variables
-  lp_var_t<uint16_t> digitalVoltageMv = lp_var_t<uint16_t>(sid.objectId, DIGITAL_VOLTAGE_MV, this);
-  lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId, ANALOG_VOLTAGE_MV, this);
-  lp_var_t<float> digitalCurrentmA = lp_var_t<float>(sid.objectId, DIGITAL_CURRENT, this);
-  lp_var_t<float> analogCurrentmA = lp_var_t<float>(sid.objectId, ANALOG_CURRENT, this);
-  lp_var_t<float> coilXCurrentmA = lp_var_t<float>(sid.objectId, COIL_X_CURRENT, this);
-  lp_var_t<float> coilYCurrentmA = lp_var_t<float>(sid.objectId, COIL_Y_CURRENT, this);
-  lp_var_t<float> coilZCurrentmA = lp_var_t<float>(sid.objectId, COIL_Z_CURRENT, this);
-  /** All temperatures in [<5B>C] */
-  lp_var_t<int16_t> coilXTemperature = lp_var_t<int16_t>(sid.objectId, COIL_X_TEMPERATURE, this);
-  lp_var_t<int16_t> coilYTemperature = lp_var_t<int16_t>(sid.objectId, COIL_Y_TEMPERATURE, this);
-  lp_var_t<int16_t> coilZTemperature = lp_var_t<int16_t>(sid.objectId, COIL_Z_TEMPERATURE, this);
-  lp_var_t<int16_t> mcuTemperature = lp_var_t<int16_t>(sid.objectId, MCU_TEMPERATURE, this);
+  lp_var_t<uint16_t> digitalVoltageMv;
+  lp_var_t<uint16_t> analogVoltageMv;
+  lp_var_t<float> digitalCurrentmA;
+  lp_var_t<float> analogCurrentmA;
+  lp_vec_t<float, 3> coilCurrentsMilliamps;
+  /** All temperatures in [C] for X, Y, Z */
+  lp_vec_t<int16_t, 3> coilTemperatures;
+  lp_var_t<int16_t> mcuTemperature;
+
+ private:
 };
 
 class HkDatasetNoTorque : public HkDataset {
  public:
-  HkDatasetNoTorque(HasLocalDataPoolIF* owner) : HkDataset(owner, imtq::SetIds::ENG_HK_NO_TORQUE) {}
+  HkDatasetNoTorque(HasLocalDataPoolIF* owner)
+      : HkDataset(owner, imtq::SetIds::ENG_HK_NO_TORQUE,
+                  {DIGITAL_VOLTAGE_MV, ANALOG_VOLTAGE_MV, DIGITAL_CURRENT, ANALOG_CURRENT,
+                   COIL_CURRENTS, COIL_TEMPERATURES, MCU_TEMPERATURE}) {}
 };
 
 class HkDatasetWithTorque : public HkDataset {
  public:
   HkDatasetWithTorque(HasLocalDataPoolIF* owner)
-      : HkDataset(owner, imtq::SetIds::ENG_HK_SET_WITH_TORQUE) {}
+      : HkDataset(owner, imtq::SetIds::ENG_HK_SET_WITH_TORQUE,
+                  {DIGITAL_VOLTAGE_MV_WT, ANALOG_VOLTAGE_MV_WT, DIGITAL_CURRENT_WT,
+                   ANALOG_CURRENT_WT, COIL_CURRENTS_WT, COIL_TEMPERATURES_WT, MCU_TEMPERATURE_WT}) {
+  }
 };
 /**
  *
@@ -529,32 +568,39 @@ class CalibratedMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRI
  */
 class RawMtmMeasurementSet : public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
  public:
-  RawMtmMeasurementSet(HasLocalDataPoolIF* owner, uint32_t setId)
-      : StaticLocalDataSet(owner, setId) {}
+  RawMtmMeasurementSet(object_id_t objectId, uint32_t setId, std::array<lp_id_t, 2> pids)
+      : StaticLocalDataSet(sid_t(objectId, setId)),
+        mtmRawNt(sid.objectId, pids.at(0), this),
+        coilActuationStatus(sid.objectId, pids.at(1), this) {}
 
-  RawMtmMeasurementSet(object_id_t objectId, uint32_t setId)
-      : StaticLocalDataSet(sid_t(objectId, setId)) {}
+  RawMtmMeasurementSet(HasLocalDataPoolIF* owner, uint32_t setId, std::array<lp_id_t, 2> pids)
+      : StaticLocalDataSet(owner, setId),
+        mtmRawNt(sid.objectId, pids.at(0), this),
+        coilActuationStatus(sid.objectId, pids.at(1), this) {}
 
   /** The unit of all measurements is nT */
-  lp_vec_t<float, 3> mtmRawNt = lp_vec_t<float, 3>(sid.objectId, MTM_RAW, this);
+  lp_vec_t<float, 3> mtmRawNt;
   /** 1 if coils were actuating during measurement otherwise 0 */
-  lp_var_t<uint8_t> coilActuationStatus =
-      lp_var_t<uint8_t>(sid.objectId, ACTUATION_RAW_STATUS, this);
+  lp_var_t<uint8_t> coilActuationStatus;
 };
 
 class RawMtmMeasurementNoTorque : public RawMtmMeasurementSet {
  public:
   RawMtmMeasurementNoTorque(HasLocalDataPoolIF* owner)
-      : RawMtmMeasurementSet(owner, imtq::SetIds::RAW_MTM_NO_TORQUE) {}
+      : RawMtmMeasurementSet(owner, imtq::SetIds::RAW_MTM_NO_TORQUE,
+                             {PoolIds::MTM_RAW, PoolIds::ACTUATION_RAW_STATUS}) {}
   RawMtmMeasurementNoTorque(object_id_t objectId)
-      : RawMtmMeasurementSet(objectId, imtq::SetIds::RAW_MTM_NO_TORQUE) {}
+      : RawMtmMeasurementSet(objectId, imtq::SetIds::RAW_MTM_NO_TORQUE,
+                             {PoolIds::MTM_RAW, PoolIds::ACTUATION_RAW_STATUS}) {}
 };
 class RawMtmMeasurementWithTorque : public RawMtmMeasurementSet {
  public:
   RawMtmMeasurementWithTorque(HasLocalDataPoolIF* owner)
-      : RawMtmMeasurementSet(owner, imtq::SetIds::RAW_MTM_WITH_TORQUE) {}
+      : RawMtmMeasurementSet(owner, imtq::SetIds::RAW_MTM_WITH_TORQUE,
+                             {PoolIds::MTM_RAW_WT, PoolIds::ACTUATION_RAW_STATUS_WT}) {}
   RawMtmMeasurementWithTorque(object_id_t objectId)
-      : RawMtmMeasurementSet(objectId, imtq::SetIds::RAW_MTM_WITH_TORQUE) {}
+      : RawMtmMeasurementSet(objectId, imtq::SetIds::RAW_MTM_WITH_TORQUE,
+                             {PoolIds::MTM_RAW_WT, PoolIds::ACTUATION_RAW_STATUS_WT}) {}
 };
 
 /**
@@ -608,28 +654,16 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
 
   void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
                   uint16_t currentTorqueDurationMs_) {
-    if (xDipole.value != xDipole_) {
-      xDipole = xDipole_;
-    }
-    if (yDipole.value != yDipole_) {
-      yDipole = yDipole_;
-    }
-    if (zDipole.value != zDipole_) {
-      zDipole = zDipole_;
-    }
+    dipoles[0] = xDipole_;
+    dipoles[1] = yDipole_;
+    dipoles[2] = zDipole_;
     currentTorqueDurationMs = currentTorqueDurationMs_;
   }
 
-  void getDipoles(int16_t& xDipole_, int16_t& yDipole_, int16_t& zDipole_) {
-    xDipole_ = xDipole.value;
-    yDipole_ = yDipole.value;
-    zDipole_ = zDipole.value;
-  }
+  const int16_t* getDipoles() const { return dipoles.value; }
 
  private:
-  lp_var_t<int16_t> xDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_X, this);
-  lp_var_t<int16_t> yDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_Y, this);
-  lp_var_t<int16_t> zDipole = lp_var_t<int16_t>(sid.objectId, DIPOLES_Z, this);
+  lp_vec_t<int16_t, 3> dipoles = lp_vec_t<int16_t, 3>(sid.objectId, DIPOLES_ID, this);
   lp_var_t<uint16_t> currentTorqueDurationMs =
       lp_var_t<uint16_t>(sid.objectId, CURRENT_TORQUE_DURATION, this);
 };
@@ -1098,80 +1132,21 @@ class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
 
 }  // namespace imtq
 
-struct ImtqRequest {
-  friend class ImtqHandler;
-
- public:
-  static constexpr size_t REQUEST_LEN = 10;
-
-  ImtqRequest(const uint8_t* data, size_t maxSize)
-      : rawData(const_cast<uint8_t*>(data)), maxSize(maxSize) {}
-
-  imtq::RequestType getRequestType() const { return static_cast<imtq::RequestType>(rawData[0]); }
-
-  void setMeasureRequest(imtq::SpecialRequest specialRequest) {
-    rawData[0] = static_cast<uint8_t>(imtq::RequestType::MEASURE_NO_ACTUATION);
-    rawData[1] = static_cast<uint8_t>(specialRequest);
-  }
-
-  void setActuateRequest(int16_t dipoleX, int16_t dipoleY, int16_t dipoleZ,
-                         uint16_t torqueDuration) {
-    size_t dummy = 0;
-    rawData[0] = static_cast<uint8_t>(imtq::RequestType::ACTUATE);
-    rawData[1] = static_cast<uint8_t>(imtq::SpecialRequest::NONE);
-    uint8_t* serPtr = rawData + 2;
-    SerializeAdapter::serialize(&dipoleX, &serPtr, &dummy, maxSize,
-                                SerializeIF::Endianness::MACHINE);
-    SerializeAdapter::serialize(&dipoleY, &serPtr, &dummy, maxSize,
-                                SerializeIF::Endianness::MACHINE);
-    SerializeAdapter::serialize(&dipoleZ, &serPtr, &dummy, maxSize,
-                                SerializeIF::Endianness::MACHINE);
-    SerializeAdapter::serialize(&torqueDuration, &serPtr, &dummy, maxSize,
-                                SerializeIF::Endianness::MACHINE);
-  }
-
-  uint8_t* startOfActuateDataPtr() { return rawData + 2; }
-
-  int16_t* getDipoles() { return reinterpret_cast<int16_t*>(rawData + 2); }
-
-  uint16_t getTorqueDuration() {
-    uint8_t* data = rawData + 2 + 6;
-    uint16_t value = 0;
-    size_t dummy = 0;
-    SerializeAdapter::deSerialize(&value, data, &dummy, SerializeIF::Endianness::MACHINE);
-    return value;
-  }
-
-  void setSpecialRequest(imtq::SpecialRequest specialRequest) {
-    rawData[1] = static_cast<uint8_t>(specialRequest);
-  }
-
-  imtq::SpecialRequest getSpecialRequest() const {
-    return static_cast<imtq::SpecialRequest>(rawData[1]);
-  }
-
- private:
-  ImtqRequest(uint8_t* rawData, size_t maxLen) : rawData(rawData) {
-    if (rawData != nullptr) {
-      rawData[0] = static_cast<uint8_t>(imtq::RequestType::MEASURE_NO_ACTUATION);
-    }
-  }
-  uint8_t* rawData;
-  size_t maxSize = 0;
-};
-
 struct ImtqRepliesDefault {
   friend class ImtqPollingTask;
 
  public:
   static constexpr size_t BASE_LEN =
-      imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::SYSTEM_STATE + 1 +
+      1 + imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::SYSTEM_STATE + 1 +
       +imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::RAW_MTM_MEASUREMENT + 1 +
       imtq::replySize::ENG_HK_DATA_REPLY + 1 + imtq::replySize::CAL_MTM_MEASUREMENT + 1;
   ImtqRepliesDefault(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) {
     initPointers();
   }
 
+  void setConfigured() { rawData[0] = true; }
+  bool devWasConfigured() const { return rawData[0]; }
+
   uint8_t* getCalibMgmMeasurement() const { return calibMgmMeasurement + 1; }
   bool wasCalibMgmMeasurementRead() const { return calibMgmMeasurement[0]; };
 
@@ -1193,7 +1168,7 @@ struct ImtqRepliesDefault {
 
  private:
   void initPointers() {
-    swReset = rawData;
+    swReset = rawData + 1;
     systemState = swReset + imtq::replySize::DEFAULT_MIN_LEN + 1;
     startMtmMeasurement = systemState + imtq::replySize::SYSTEM_STATE + 1;
     rawMgmMeasurement = startMtmMeasurement + imtq::replySize::DEFAULT_MIN_LEN + 1;
@@ -1201,6 +1176,7 @@ struct ImtqRepliesDefault {
     calibMgmMeasurement = engHk + imtq::replySize::ENG_HK_DATA_REPLY + 1;
     specialRequestReply = calibMgmMeasurement + imtq::replySize::CAL_MTM_MEASUREMENT + 1;
   }
+
   uint8_t* rawData;
   uint8_t* swReset;
   uint8_t* systemState;

mission/devices/devicedefinitions/payloadPcduDefinitions.h

@@ -3,6 +3,7 @@
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <mission/memory/NvmParameterBase.h>
 
 #include <cstddef>
 #include <filesystem>
@@ -10,7 +11,6 @@
 
 #include "OBSWConfig.h"
 #include "mission/devices/max1227.h"
-#include "mission/memory/NVMParameterBase.h"
 
 namespace plpcdu {
 

mission/memory/CMakeLists.txt

@@ -1 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE NVMParameterBase.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE NvmParameterBase.cpp)

mission/memory/NvmParameterBase.cpp

@@ -1,4 +1,4 @@
-#include "NVMParameterBase.h"
+#include <mission/memory/NvmParameterBase.h>
 
 #include <fstream>
 
@@ -10,13 +10,14 @@ NVMParameterBase::NVMParameterBase(std::string fullName) : fullName(fullName) {}
 NVMParameterBase::NVMParameterBase() {}
 
 ReturnValue_t NVMParameterBase::readJsonFile() {
-  if (std::filesystem::exists(fullName)) {
+  std::error_code e;
+  if (std::filesystem::exists(fullName, e)) {
     // Read JSON file content into object
     std::ifstream i(fullName);
     try {
       i >> json;
-    } catch (nlohmann::json::exception& e) {
-      sif::warning << "Reading JSON file failed with error " << e.what() << std::endl;
+    } catch (nlohmann::json::exception& nlohmannE) {
+      sif::warning << "Reading JSON file failed with error " << nlohmannE.what() << std::endl;
       return returnvalue::FAILED;
     }
     return returnvalue::OK;
@@ -39,7 +40,10 @@ void NVMParameterBase::setFullName(std::string fullName) { this->fullName = full
 
 std::string NVMParameterBase::getFullName() const { return fullName; }
 
-bool NVMParameterBase::getJsonFileExists() { return std::filesystem::exists(fullName); }
+bool NVMParameterBase::getJsonFileExists() {
+  std::error_code e;
+  return std::filesystem::exists(fullName, e);
+}
 
 void NVMParameterBase::printKeys() const {
   sif::info << "Printing keys for JSON file " << fullName << std::endl;

mission/system/fdir/CMakeLists.txt

@@ -1,3 +1,4 @@
 target_sources(
-  ${LIB_EIVE_MISSION} PRIVATE AcsBoardFdir.cpp RtdFdir.cpp SusFdir.cpp
-                              SyrlinksFdir.cpp GomspacePowerFdir.cpp)
+  ${LIB_EIVE_MISSION}
+  PRIVATE AcsBoardFdir.cpp RtdFdir.cpp StrFdir.cpp SusFdir.cpp SyrlinksFdir.cpp
+          GomspacePowerFdir.cpp)

mission/system/fdir/StrFdir.cpp

@@ -0,0 +1,14 @@
+#include "StrFdir.h"
+
+#include "mission/acsDefs.h"
+
+StrFdir::StrFdir(object_id_t strObject)
+    : DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {}
+
+ReturnValue_t StrFdir::eventReceived(EventMessage* event) {
+  if (event->getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
+    setFaulty(event->getEvent());
+    return returnvalue::OK;
+  }
+  return DeviceHandlerFailureIsolation::eventReceived(event);
+}

mission/system/fdir/StrFdir.h

@@ -0,0 +1,12 @@
+#ifndef MISSION_SYSTEM_FDIR_STRFDIR_H_
+#define MISSION_SYSTEM_FDIR_STRFDIR_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+class StrFdir : public DeviceHandlerFailureIsolation {
+ public:
+  StrFdir(object_id_t strObject);
+  ReturnValue_t eventReceived(EventMessage* event) override;
+};
+
+#endif /* MISSION_SYSTEM_FDIR_STRFDIR_H_ */

mission/system/objects/AcsBoardAssembly.cpp

@@ -55,6 +55,12 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
   modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
   modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
   modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
+  if (recoveryState == RecoveryState::RECOVERY_IDLE) {
+    result = checkAndHandleHealthStates(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return returnvalue::OK;
+    }
+  }
   if (recoveryState != RecoveryState::RECOVERY_STARTED) {
     if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
       result = handleNormalOrOnModeCmd(mode, submode);
@@ -280,3 +286,30 @@ ReturnValue_t AcsBoardAssembly::initialize() {
   }
   return AssemblyBase::initialize();
 }
+
+ReturnValue_t AcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
+                                                           Submode_t deviceSubmode) {
+  using namespace returnvalue;
+  ReturnValue_t status = returnvalue::OK;
+  auto overwriteHealthForOneDev = [&](object_id_t dev) {
+    HealthState health = healthHelper.healthTable->getHealth(dev);
+    if (health == FAULTY or health == PERMANENT_FAULTY) {
+      overwriteDeviceHealth(dev, health);
+      status = NEED_TO_CHANGE_HEALTH;
+    } else if (health == EXTERNAL_CONTROL) {
+      modeHelper.setForced(true);
+    }
+  };
+  if (deviceSubmode == duallane::DUAL_MODE) {
+    overwriteHealthForOneDev(helper.mgm0Lis3IdSideA);
+    overwriteHealthForOneDev(helper.mgm1Rm3100IdSideA);
+    overwriteHealthForOneDev(helper.mgm2Lis3IdSideB);
+    overwriteHealthForOneDev(helper.mgm3Rm3100IdSideB);
+    overwriteHealthForOneDev(helper.gyro0AdisIdSideA);
+    overwriteHealthForOneDev(helper.gyro1L3gIdSideA);
+    overwriteHealthForOneDev(helper.gyro2AdisIdSideB);
+    overwriteHealthForOneDev(helper.gyro3L3gIdSideB);
+    overwriteHealthForOneDev(helper.gpsId);
+  }
+  return status;
+}

mission/system/objects/AcsBoardAssembly.h

@@ -121,6 +121,7 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
 
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
+  ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
   void refreshHelperModes();
 };
 

mission/system/objects/AcsSubsystem.cpp

@@ -75,9 +75,7 @@ void AcsSubsystem::handleEventMessages() {
             sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
           }
         }
-        if (event.getEvent() == acs::SAFE_RATE_RECOVERY ||
-            event.getEvent() == acs::MULTIPLE_RW_INVALID ||
-            event.getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
+        if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
           CommandMessage msg;
           ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
           status = commandQueue->sendMessage(commandQueue->getId(), &msg);

mission/system/objects/CMakeLists.txt

@@ -7,11 +7,13 @@ target_sources(
           TcsSubsystem.cpp
           PayloadSubsystem.cpp
           AcsBoardAssembly.cpp
+          ImtqAssembly.cpp
           SyrlinksAssembly.cpp
           Stack5VHandler.cpp
           SusAssembly.cpp
           RwAssembly.cpp
           DualLanePowerStateMachine.cpp
+          StrAssembly.cpp
           PowerStateMachineBase.cpp
           DualLaneAssemblyBase.cpp
           TcsBoardAssembly.cpp)

mission/system/objects/DualLaneAssemblyBase.cpp

@@ -235,8 +235,3 @@ void DualLaneAssemblyBase::setPreferredSide(duallane::Submodes submode) {
   }
   this->defaultSubmode = submode;
 }
-
-ReturnValue_t DualLaneAssemblyBase::checkAndHandleHealthState(Mode_t deviceMode,
-                                                              Submode_t deviceSubmode) {
-  return returnvalue::OK;
-}

mission/system/objects/DualLaneAssemblyBase.h

@@ -70,11 +70,11 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   virtual void handleChildrenLostMode(ReturnValue_t result) override;
   virtual void handleModeTransitionFailed(ReturnValue_t result) override;
   virtual void handleModeReached() override;
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
 
   MessageQueueId_t getEventReceptionQueue() override;
 
   bool sideSwitchTransition(Mode_t mode, Submode_t submode);
-  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
 
   /**
    * Implemented by user. Will be called if a full mode operation has finished.
@@ -96,7 +96,6 @@ inline void DualLaneAssemblyBase::initModeTableEntry(
   entry.setObject(id);
   entry.setMode(MODE_OFF);
   entry.setSubmode(SUBMODE_NONE);
-  entry.setInheritSubmode(false);
   modeTable.insert(entry);
 }
 

mission/system/objects/ImtqAssembly.cpp

@@ -0,0 +1,54 @@
+#include "ImtqAssembly.h"
+
+#include <eive/objects.h>
+
+using namespace returnvalue;
+
+ImtqAssembly::ImtqAssembly(object_id_t objectId) : AssemblyBase(objectId) {
+  ModeListEntry entry;
+  entry.setObject(objects::IMTQ_HANDLER);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  commandTable.insert(entry);
+}
+
+ReturnValue_t ImtqAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  commandTable[0].setMode(mode);
+  commandTable[0].setSubmode(submode);
+  if (recoveryState == RECOVERY_IDLE) {
+    ReturnValue_t result = checkAndHandleHealthState(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return OK;
+    }
+  }
+  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  executeTable(iter);
+  return returnvalue::OK;
+}
+
+ReturnValue_t ImtqAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  if (childrenMap[objects::IMTQ_HANDLER].mode != wantedMode) {
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t ImtqAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
+    return returnvalue::OK;
+  }
+  return returnvalue::FAILED;
+}
+
+ReturnValue_t ImtqAssembly::checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode) {
+  HealthState health = healthHelper.healthTable->getHealth(objects::IMTQ_HANDLER);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    overwriteDeviceHealth(objects::IMTQ_HANDLER, health);
+    return NEED_TO_CHANGE_HEALTH;
+  } else if (health == EXTERNAL_CONTROL) {
+    modeHelper.setForced(true);
+  }
+  return OK;
+}
+
+void ImtqAssembly::handleChildrenLostMode(ReturnValue_t result) { startTransition(mode, submode); }

mission/system/objects/ImtqAssembly.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+
+class ImtqAssembly : public AssemblyBase {
+ public:
+  ImtqAssembly(object_id_t objectId);
+
+ private:
+  FixedArrayList<ModeListEntry, 1> commandTable;
+
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  void handleChildrenLostMode(ReturnValue_t result) override;
+
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
+};

mission/system/objects/RwAssembly.cpp

@@ -8,7 +8,6 @@ RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::
     entry.setObject(helper.rwIds[idx]);
     entry.setMode(MODE_OFF);
     entry.setSubmode(SUBMODE_NONE);
-    entry.setInheritSubmode(false);
     modeTable.insert(entry);
   }
 }

mission/system/objects/StrAssembly.cpp

@@ -0,0 +1,30 @@
+#include "StrAssembly.h"
+
+#include <eive/objects.h>
+
+StrAssembly::StrAssembly(object_id_t objectId) : AssemblyBase(objectId) {
+  ModeListEntry entry;
+  entry.setObject(objects::STAR_TRACKER);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  commandTable.insert(entry);
+}
+
+ReturnValue_t StrAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  commandTable[0].setMode(mode);
+  commandTable[0].setSubmode(submode);
+  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  executeTable(iter);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  if (childrenMap[objects::STAR_TRACKER].mode != wantedMode) {
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  return returnvalue::OK;
+}

mission/system/objects/StrAssembly.h

@@ -0,0 +1,18 @@
+#ifndef MISSION_SYSTEM_OBJECTS_STRASSEMBLY_H_
+#define MISSION_SYSTEM_OBJECTS_STRASSEMBLY_H_
+
+#include "fsfw/devicehandlers/AssemblyBase.h"
+
+class StrAssembly : public AssemblyBase {
+ public:
+  StrAssembly(object_id_t objectId);
+
+ private:
+  FixedArrayList<ModeListEntry, 1> commandTable;
+
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_STRASSEMBLY_H_ */

mission/system/objects/TcsBoardAssembly.cpp

@@ -12,7 +12,6 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitc
     entry.setObject(helper.rtdInfos[idx].first);
     entry.setMode(MODE_OFF);
     entry.setSubmode(SUBMODE_NONE);
-    entry.setInheritSubmode(false);
     modeTable.insert(entry);
   }
 }
@@ -41,6 +40,12 @@ ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
     modeTable[idx].setMode(MODE_OFF);
     modeTable[idx].setSubmode(SUBMODE_NONE);
   }
+  if (recoveryState == RecoveryState::RECOVERY_IDLE) {
+    result = checkAndHandleHealthStates(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return returnvalue::OK;
+    }
+  }
   if (recoveryState != RecoveryState::RECOVERY_STARTED) {
     if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
       result = handleNormalOrOnModeCmd(mode, submode);
@@ -62,10 +67,10 @@ ReturnValue_t TcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
   } catch (const std::out_of_range& e) {
     sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
   }
-  if (devsInWrongMode >= 3) {
+  if (devsInWrongMode == NUMBER_RTDS) {
     if (warningSwitch) {
-      sif::warning << "TcsBoardAssembly::checkChildrenStateOn: " << devsInWrongMode << " devices in"
-                   << " wrong mode" << std::endl;
+      sif::warning << "TcsBoardAssembly::checkChildrenStateOn: All devices in wrong mode"
+                   << std::endl;
       warningSwitch = false;
     }
     return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
@@ -180,9 +185,29 @@ void TcsBoardAssembly::handleModeReached() {
 }
 
 void TcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
-  // TODO: Maybe try a reboot once here?
   triggerEvent(CHILDREN_LOST_MODE, result);
-  return;
+  startTransition(mode, submode);
+}
+
+ReturnValue_t TcsBoardAssembly::checkAndHandleHealthStates(Mode_t deviceMode,
+                                                           Submode_t deviceSubmode) {
+  ReturnValue_t status = returnvalue::OK;
+  for (const auto& dev : helper.rtdInfos) {
+    HealthState health = healthHelper.healthTable->getHealth(dev.first);
+    if (health == HealthState::HEALTHY) {
+      return returnvalue::OK;
+    }
+  }
+
+  for (const auto& dev : helper.rtdInfos) {
+    HealthState health = healthHelper.healthTable->getHealth(dev.first);
+    if (health == FAULTY or health == PERMANENT_FAULTY) {
+      status = NEED_TO_CHANGE_HEALTH;
+    } else if (health == EXTERNAL_CONTROL) {
+      modeHelper.setForced(true);
+    }
+  }
+  return status;
 }
 
 void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {

mission/system/objects/TcsBoardAssembly.h

@@ -52,6 +52,7 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
   void handleModeReached() override;
+  ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
 
   // These two overrides prevent a transition of the whole assembly back to off just because
   // some devices are not working

mission/system/tree/acsModeTree.cpp

@@ -6,8 +6,11 @@
 #include <fsfw/subsystem/Subsystem.h>
 #include <fsfw/subsystem/modes/ModeDefinitions.h>
 
+#include <optional>
+
 #include "eive/objects.h"
 #include "mission/acsDefs.h"
+#include "mission/system/objects/definitions.h"
 #include "util.h"
 
 AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
@@ -100,24 +103,28 @@ Subsystem& satsystem::acs::init() {
   ModeListEntry entry;
   const char* ctxc = "satsystem::acs::init: generic target";
   // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
+                 bool allowAllSubmodes = false) {
     entry.setObject(obj);
     entry.setMode(mode);
     entry.setSubmode(submode);
+    if (allowAllSubmodes) {
+      entry.allowAllSubmodes();
+    }
     check(table.insert(entry), "satsystem::acs::init: generic target");
   };
   // Build TARGET PT transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   check(ACS_SUBSYSTEM.addTable(
             TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
         ctxc);
 
   // Build SUS board transition
-  iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
   check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
         ctxc);
 
@@ -162,8 +169,8 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
   check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_0.first, &ACS_TABLE_OFF_TRANS_0.second)), ctxc);
 
   // Build OFF transition 1
-  iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::IMTQ_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
@@ -182,10 +189,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -198,15 +208,16 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   };
   // Build SAFE target
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
   check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
 
   // Build SAFE transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
+  iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
         ctxc);
@@ -220,7 +231,6 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build SAFE sequence
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
   check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
@@ -233,10 +243,13 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -249,19 +262,17 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
   };
   // Build DETUMBLE target
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
   check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
         ctxc);
 
-  // SUS board transition table is defined above
-
   // Build DETUMBLE transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
-  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
+  iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
                     true),
@@ -275,7 +286,6 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build DETUMBLE sequence
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
   check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
@@ -288,10 +298,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -304,20 +317,19 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   };
   // Build IDLE target
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
   ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
 
-  // SUS board transition table is built above
-
   // Build IDLE transition 0
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
 
   // Build IDLE transition 1
@@ -326,7 +338,6 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true);
   ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
   ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
@@ -338,10 +349,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -355,15 +369,14 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
         ctxc);
 
-  // SUS board transition table is built above
   // Transition 0 already built
   // Build TARGET PT transition 1
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second);
@@ -373,7 +386,6 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
   check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
@@ -386,10 +398,13 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -404,11 +419,11 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
       ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
                                &ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
         ctxc);
@@ -437,10 +452,13 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -455,11 +473,11 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
       ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   check(ss.addTable(
             TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
         ctxc);
@@ -487,10 +505,13 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -505,11 +526,11 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
       ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
                                &ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),
         ctxc);

mission/system/tree/comModeTree.h

@@ -11,8 +11,9 @@ extern ComSubsystem SUBSYSTEM;
 
 // The syrlinks must not transmitting longer then 15 minutes otherwise the
 // transceiver might be damaged due to overheating
-// 15 minutes in milliseconds
-static const uint32_t TRANSMITTER_TIMEOUT = 900000;
+// This is the initial timeout of 2 minutes. The timeout needs to be incremented
+// before each overpass
+static const uint32_t TRANSMITTER_TIMEOUT = 120000;
 
 Subsystem& init();
 }  // namespace com

mission/system/tree/system.cpp

@@ -62,10 +62,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildSafeSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
+                 bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(table.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -79,7 +83,9 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Do no track ACS for now because it might jump to detumble mode and back to safe as part of
   // normal operations.
-  // iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second);
+  // UPDATE: This could be re-enabled as soon as the detumble mode is a submode of
+  // ACS CTRL safe mode.
+  // iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
   iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
   check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
 
@@ -88,18 +94,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
   check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
         ctxc);
 
-  // Build SAFE transition 1
-  // check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)),
-  //      ctxc);
-
   // Build Safe sequence
   ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
   ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
-  // ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false);
   check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
                                      EIVE_SEQUENCE_SAFE.first)),
         ctxc);
@@ -127,21 +128,16 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
   check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
 
-  // Build SAFE transition 0
+  // Build IDLE transition 0
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
-  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second);
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
   check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
         ctxc);
 
-  // Build SAFE transition 1
-  // check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)),
-  //     ctxc);
-
-  // Build Safe sequence
+  // Build IDLE sequence
   ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
   ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
-  // ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false);
   check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
                                      EIVE_SEQUENCE_SAFE.first)),
         ctxc);

mission/system/tree/tcsModeTree.cpp

@@ -19,8 +19,8 @@ static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
 auto TCS_SEQUENCE_OFF = std::make_pair(OFF, FixedArrayList<ModeListEntry, 3>());
 auto TCS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 2>());
-auto TCS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 7>());
-auto TCS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+auto TCS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 2>());
+auto TCS_TABLE_OFF_TRANS_1 = std::make_pair((OFF << 24) | 3, FixedArrayList<ModeListEntry, 7>());
 
 auto TCS_SEQUENCE_NORMAL = std::make_pair(NML, FixedArrayList<ModeListEntry, 3>());
 auto TCS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 2>());
@@ -59,16 +59,16 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
   // OFF target table is empty
   check(ss.addTable(TableEntry(TCS_TABLE_OFF_TGT.first, &TCS_TABLE_OFF_TGT.second)), ctxc);
 
-  iht(objects::TCS_BOARD_ASS, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
-  iht(objects::TMP1075_HANDLER_TCS_0, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
-  iht(objects::TMP1075_HANDLER_TCS_1, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
-  iht(objects::TMP1075_HANDLER_PLPCDU_0, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
-  // damaged
-  // iht(objects::TMP1075_HANDLER_PLPCDU_1, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
-  iht(objects::TMP1075_HANDLER_IF_BOARD, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
+  // Transition 1
+  iht(objects::THERMAL_CONTROLLER, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
   check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_0.first, &TCS_TABLE_OFF_TRANS_0.second)), ctxc);
 
-  iht(objects::THERMAL_CONTROLLER, OFF, 0, TCS_TABLE_OFF_TRANS_0.second);
+  iht(objects::TCS_BOARD_ASS, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
+  iht(objects::TMP1075_HANDLER_TCS_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
+  iht(objects::TMP1075_HANDLER_TCS_1, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
+  iht(objects::TMP1075_HANDLER_PLPCDU_0, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
+  // TMP PL PCDU 1 is damaged
+  iht(objects::TMP1075_HANDLER_IF_BOARD, OFF, 0, TCS_TABLE_OFF_TRANS_1.second);
   check(ss.addTable(TableEntry(TCS_TABLE_OFF_TRANS_1.first, &TCS_TABLE_OFF_TRANS_1.second)), ctxc);
 
   ihs(TCS_SEQUENCE_OFF.second, TCS_TABLE_OFF_TGT.first, 0, false);
@@ -98,20 +98,20 @@ void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
 
-  // OFF target table is empty
+  // Normal target table is empty
   check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TGT.first, &TCS_TABLE_NORMAL_TGT.second)), ctxc);
 
   iht(objects::TCS_BOARD_ASS, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   iht(objects::TMP1075_HANDLER_TCS_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   iht(objects::TMP1075_HANDLER_TCS_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   iht(objects::TMP1075_HANDLER_PLPCDU_0, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
-  // damaged
-  // iht(objects::TMP1075_HANDLER_PLPCDU_1, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
+  // TMP PL PCDU 1 is damaged
   iht(objects::TMP1075_HANDLER_IF_BOARD, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
   check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_0.first, &TCS_TABLE_NORMAL_TRANS_0.second)),
         ctxc);
 
-  iht(objects::THERMAL_CONTROLLER, NML, 0, TCS_TABLE_NORMAL_TRANS_0.second);
+  // Transition 1
+  iht(objects::THERMAL_CONTROLLER, NML, 0, TCS_TABLE_NORMAL_TRANS_1.second);
   check(ss.addTable(TableEntry(TCS_TABLE_NORMAL_TRANS_1.first, &TCS_TABLE_NORMAL_TRANS_1.second)),
         ctxc);
 

mission/tmtc/PersistentTmStore.cpp

@@ -28,35 +28,6 @@ PersistentTmStore::PersistentTmStore(object_id_t objectId, const char* baseDir,
 }
 
 ReturnValue_t PersistentTmStore::assignAndOrCreateMostRecentFile() {
-  using namespace std::filesystem;
-  for (auto const& file : directory_iterator(basePath)) {
-    if (file.is_directory()) {
-      continue;
-    }
-    auto pathStr = file.path().string();
-    if (pathStr.find(baseName) == std::string::npos) {
-      continue;
-    }
-    unsigned int underscorePos = pathStr.find_last_of('_');
-    std::string stampStr = pathStr.substr(underscorePos + 1);
-    struct tm time {};
-    if (nullptr == strptime(stampStr.c_str(), FILE_DATE_FORMAT, &time)) {
-      sif::error << "PersistentTmStore::assignOrCreateMostRecentFile: Error reading timestamp"
-                 << std::endl;
-      // Delete the file and re-create it.
-      activeFile = std::nullopt;
-      std::filesystem::remove(file.path());
-      break;
-    }
-    time_t fileEpoch = timegm(&time);
-    // There is still a file within the active time window, so re-use that file for new TMs to
-    // store.
-    if (fileEpoch + static_cast<time_t>(rolloverDiffSeconds) > currentTv.tv_sec) {
-      activeFileTv.tv_sec = fileEpoch;
-      activeFile = file.path();
-      break;
-    }
-  }
   if (not activeFile.has_value()) {
     return createMostRecentFile(std::nullopt);
   }
@@ -203,7 +174,8 @@ bool PersistentTmStore::updateBaseDir() {
     return false;
   }
   basePath = path(currentPrefix) / baseDir / baseName;
-  if (not exists(basePath)) {
+  std::error_code e;
+  if (not exists(basePath, e)) {
     create_directories(basePath);
   }
   baseDirUninitialized = false;

mission/utility/GlobalConfigHandler.h

@@ -14,6 +14,7 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/storagemanager/StorageManagerIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
+#include <mission/memory/NvmParameterBase.h>
 
 #include <sstream>
 #include <string>
@@ -22,7 +23,6 @@
 #include "OBSWConfig.h"
 #include "fsfw/parameters/HasParametersIF.h"
 #include "fsfw/parameters/ParameterHelper.h"
-#include "mission/memory/NVMParameterBase.h"
 
 static std::map<ParamIds, std::string> PARAM_KEY_MAP = {
     {PARAM0, "Parameter0"},

scripts/auto-formatter.sh

@@ -4,6 +4,7 @@ if [[ ! -f README.md ]]; then
 fi
 
 folder_list=(
+  "./watchdog"
   "./mission"
   "./linux"
   "./bsp_q7s"

test/DummyParameter.h

@@ -1,11 +1,11 @@
 #ifndef BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_
 #define BSP_Q7S_CORE_NVMPARAMS_PARAMETERDEFINITIONS_H_
 
+#include <mission/memory/NvmParameterBase.h>
+
 #include <filesystem>
 #include <nlohmann/json.hpp>
 
-#include "mission/memory/NVMParameterBase.h"
-
 class DummyParameter : public NVMParameterBase {
  public:
   static constexpr char DUMMY_KEY_PARAM_1[] = "dummy1";

watchdog/CMakeLists.txt

@@ -1,10 +1,5 @@
-target_sources(${WATCHDOG_NAME} PRIVATE
-    main.cpp
-    Watchdog.cpp
-)
+target_sources(${WATCHDOG_NAME} PRIVATE main.cpp Watchdog.cpp)
 
-target_include_directories(${WATCHDOG_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${WATCHDOG_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 
 install(TARGETS ${WATCHDOG_NAME} RUNTIME DESTINATION bin)

watchdog/Watchdog.cpp

@@ -1,258 +1,304 @@
 #include "Watchdog.h"
-#include "definitions.h"
 
 #include <errno.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <poll.h>
-#include <unistd.h>
 #include <fcntl.h>
+#include <poll.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
 
-#include <iostream>
-#include <fstream>
-#include <thread>
+#include <cstdlib>
 #include <cstring>
 #include <filesystem>
+#include <fstream>
+#include <iostream>
+#include <thread>
 
+#include "definitions.h"
 
-WatchdogTask::WatchdogTask (): fd(0) {
-    int result = 0;
-    // Only create the FIFO if it does not exist yet
-    if(not std::filesystem::exists(watchdog::FIFO_NAME)) {
-        // Permission  666 or rw-rw-rw-
-        mode_t mode = DEFFILEMODE;
-        result = mkfifo(watchdog::FIFO_NAME.c_str(), mode);
-        if(result != 0) {
-            std::cerr << "eive-watchdog: Could not created named pipe at " <<
-                    watchdog::FIFO_NAME << ", error " << errno << ": " << strerror(errno) <<
-                    std::endl;
-            throw std::runtime_error("eive-watchdog: FIFO creation failed");
-        }
-#if WATCHDOG_VERBOSE_LEVEL >= 1
-        std::cout << "eive-watchdog: Pipe at " << watchdog::FIFO_NAME <<
-                " created successfully" << std::endl;
-#endif
+WatchdogTask::WatchdogTask() : fd(0) {
+  int result = 0;
+  std::error_code e;
+  // Only create the FIFO if it does not exist yet
+  if (not std::filesystem::exists(watchdog::FIFO_NAME, e)) {
+    // Permission  666 or rw-rw-rw-
+    mode_t mode = DEFFILEMODE;
+    result = mkfifo(watchdog::FIFO_NAME.c_str(), mode);
+    if (result != 0) {
+      std::cerr << "Could not created named pipe at " << watchdog::FIFO_NAME << ", error " << errno
+                << ": " << strerror(errno) << std::endl;
+      throw std::runtime_error("eive-watchdog: FIFO creation failed");
     }
+#if WATCHDOG_VERBOSE_LEVEL >= 1
+    std::cout << "Pipe at " << watchdog::FIFO_NAME << " created successfully" << std::endl;
+#endif
+  }
 }
 
-WatchdogTask::~WatchdogTask() {
-
-}
+WatchdogTask::~WatchdogTask() {}
 
 int WatchdogTask::performOperation() {
-    // Open FIFO read only and non-blocking
-    fd = open(watchdog::FIFO_NAME.c_str(), O_RDONLY | O_NONBLOCK);
-    if(fd < 0) {
-        std::cerr << "eive-watchdog: Opening pipe " << watchdog::FIFO_NAME <<
-                "read-only failed with " << errno << ": " << strerror(errno) << std::endl;
-        return -1;
+  // Open FIFO read only and non-blocking
+  fd = open(watchdog::FIFO_NAME.c_str(), O_RDONLY | O_NONBLOCK);
+  if (fd < 0) {
+    std::cerr << "Opening pipe " << watchdog::FIFO_NAME << "read-only failed with " << errno << ": "
+              << strerror(errno) << std::endl;
+    return -1;
+  }
+  // Clear FIFO by reading until it is empty.
+  while (true) {
+    ssize_t readBytes = read(fd, buf.data(), buf.size());
+    if (readBytes < 0) {
+      std::cerr << "Read error of FIFO: " << strerror(errno) << std::endl;
+    } else if (readBytes == 0) {
+      break;
     }
-    state = States::RUNNING;
+  }
+  state = States::NOT_STARTED;
 
-    while(true) {
-        WatchdogTask::LoopResult loopResult = watchdogLoop();
-        switch(loopResult) {
-        case(LoopResult::OK): {
-            performRunningOperation();
-            break;
-        }
-        case(LoopResult::CANCEL_RQ): {
-            std::cout << "eive-watchdog: Received cancel request, closing watchdog.." << std::endl;
-            return 0;
-        }
-        case(LoopResult::SUSPEND_RQ): {
-            performSuspendOperation();
-            break;
-        }
-        case(LoopResult::TIMEOUT): {
-            performNotRunningOperation(loopResult);
-            break;
-        }
-        case(LoopResult::HUNG_UP): {
-            performNotRunningOperation(loopResult);
-            break;
-        }
-        case(LoopResult::RESTART_RQ): {
-            if(state == States::SUSPENDED or state == States::FAULTY) {
-                performRunningOperation();
-            }
-            break;
-        }
-        case(LoopResult::FAULT): {
-            using namespace std::chrono_literals;
-            // Configuration error
-            std::cerr << "Fault has occured in watchdog loop" << std::endl;
-            // Prevent spam
-            std::this_thread::sleep_for(2000ms);
-
-        }
-        }
+  bool breakOuter = false;
+  while (true) {
+    watchdogLoop();
+    while (not resultQueue.empty()) {
+      auto nextRequest = resultQueue.front();
+      if (not stateMachine(nextRequest)) {
+        breakOuter = true;
+        resultQueue.pop();
+        break;
+      }
+      resultQueue.pop();
     }
-    if (close(fd) < 0) {
-        std::cerr << "eive-watchdog: Closing named pipe at " << watchdog::FIFO_NAME <<
-                "failed, error " << errno << ": " << strerror(errno) << std::endl;
+    if (breakOuter) {
+      break;
     }
-    std::cout << "eive-watchdog: Finished" << std::endl;
-    return 0;
+  }
+  if (close(fd) < 0) {
+    std::cerr << "Closing named pipe at " << watchdog::FIFO_NAME << "failed, error " << errno
+              << ": " << strerror(errno) << std::endl;
+  }
+  std::cout << "Closing" << std::endl;
+  return 0;
 }
 
-WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
-    using namespace std::chrono_literals;
-    struct pollfd waiter = {};
-    waiter.fd = fd;
-    waiter.events = POLLIN;
+void WatchdogTask::watchdogLoop() {
+  using namespace std::chrono_literals;
+  struct pollfd waiter = {};
+  waiter.fd = fd;
+  waiter.events = POLLIN;
 
-    switch(state) {
-    case(States::SUSPENDED): {
-        // Sleep, then check whether a restart request was received
-        std::this_thread::sleep_for(1000ms);
-        break;
+  // Only poll one file descriptor with timeout
+  switch (poll(&waiter, 1, watchdog::TIMEOUT_MS)) {
+    case (0): {
+      resultQueue.push(LoopResult::TIMEOUT);
+      return;
     }
-    case(States::RUNNING): {
-        // Continue as usual
-        break;
-    }
-    case(States::NOT_STARTED): {
-        // This should not happen
-        std::cerr << "eive-watchdog: State is NOT_STARTED, configuration error" << std::endl;
-        break;
-    }
-    case(States::FAULTY): {
-        // TODO: Not sure what to do yet. Continue for now
-        break;
-    }
-    }
-
-    // 10 seconds timeout, only poll one file descriptor
-    switch(poll(&waiter, 1, watchdog::TIMEOUT_MS)) {
-    case(0): {
-        return LoopResult::TIMEOUT;
-    }
-    case(1): {
-        return pollEvent(waiter);
+    case (1): {
+      pollEvent(waiter);
+      return;
     }
     default: {
-        std::cerr << "eive-watchdog: Unknown poll error at " << watchdog::FIFO_NAME << ", error " <<
-                errno << ": " << strerror(errno) << std::endl;
-        break;
+      std::cerr << "Unknown poll error at " << watchdog::FIFO_NAME << ", error " << errno << ": "
+                << strerror(errno) << std::endl;
+      break;
     }
-    }
-    return LoopResult::OK;
+  }
 }
 
-WatchdogTask::LoopResult WatchdogTask::pollEvent(struct pollfd& waiter) {
-    if (waiter.revents & POLLIN) {
-        ssize_t readLen = read(fd, buf.data(), buf.size());
-        if (readLen < 0) {
-            std::cerr << "eive-watchdog: Read error on pipe " << watchdog::FIFO_NAME <<
-                    ", error " << errno << ": " << strerror(errno) << std::endl;
-            return LoopResult::OK;
-        }
+void WatchdogTask::pollEvent(struct pollfd& waiter) {
+  if (waiter.revents & POLLIN) {
+    ssize_t readLen = read(fd, buf.data(), buf.size());
 #if WATCHDOG_VERBOSE_LEVEL == 2
-        std::cout << "Read " << readLen << " byte(s) on the pipe " << FIFO_NAME
-                << std::endl;
+    std::cout << "Read " << readLen << " byte(s) on the pipe " << watchdog::FIFO_NAME << std::endl;
 #endif
-        else if(readLen >= 1) {
-            return parseCommandByte(readLen);
-        }
+    if (readLen < 0) {
+      std::cerr << "Read error on pipe " << watchdog::FIFO_NAME << ", error " << errno << ": "
+                << strerror(errno) << std::endl;
+      resultQueue.push(LoopResult::OK);
+    } else if (readLen >= 1) {
+      parseCommands(readLen);
+    }
 
-    }
-    else if(waiter.revents & POLLERR) {
-        std::cerr << "eive-watchdog: Poll error error on pipe " << watchdog::FIFO_NAME <<
-                std::endl;
-        return LoopResult::FAULT;
-    }
-    else if (waiter.revents & POLLHUP) {
-        // Writer closed its end
-        return LoopResult::HUNG_UP;
-    }
-    return LoopResult::FAULT;
+  } else if (waiter.revents & POLLERR) {
+    std::cerr << "Poll error error on pipe " << watchdog::FIFO_NAME << std::endl;
+    resultQueue.push(LoopResult::FAULT);
+  } else if (waiter.revents & POLLHUP) {
+    // Writer closed its end
+    resultQueue.push(LoopResult::HUNG_UP);
+  }
 }
 
-WatchdogTask::LoopResult WatchdogTask::parseCommandByte(ssize_t readLen) {
-    for(ssize_t idx = 0; idx < readLen; idx++) {
-        char readChar = buf[idx];
-        // Cancel request
-        if(readChar == watchdog::CANCEL_CHAR) {
-            return LoopResult::CANCEL_RQ;
-        }
-        // Begin request. Does not work if the operation was not suspended before
-        else if(readChar ==  watchdog::RESTART_CHAR) {
-            return LoopResult::RESTART_RQ;
-        }
-        // Suspend request
-        else if(readChar == watchdog::SUSPEND_CHAR) {
-            return LoopResult::SUSPEND_RQ;
-        }
-        // Everything else: All working as expected
+void WatchdogTask::parseCommands(ssize_t readLen) {
+  for (ssize_t idx = 0; idx < readLen; idx++) {
+    char nextChar = buf[idx];
+    // Cancel request
+    if (nextChar == watchdog::first::CANCEL_CHAR) {
+      resultQueue.push(LoopResult::CANCEL_REQ);
+    } else if (nextChar == watchdog::first::SUSPEND_CHAR) {
+      // Suspend request
+      resultQueue.push(LoopResult::SUSPEND_REQ);
+    } else if (nextChar == watchdog::first::START_CHAR) {
+      if (idx < readLen - 1 and static_cast<char>(buf[idx + 1]) == watchdog::second::WATCH_FLAG) {
+        resultQueue.push(LoopResult::START_WITH_WATCH_REQ);
+        idx++;
+        continue;
+      }
+      resultQueue.push(LoopResult::START_REQ);
+    } else if (nextChar == watchdog::first::IDLE_CHAR) {
+      resultQueue.push(LoopResult::OK);
     }
-    return LoopResult::OK;
+  }
+  // Everything else: All working as expected
 }
 
 int WatchdogTask::performRunningOperation() {
-    if(state != States::RUNNING) {
-        state = States::RUNNING;
+  if (state != States::RUNNING) {
+    state = States::RUNNING;
+  }
+  if (notRunningStart.has_value()) {
+    notRunningStart = std::nullopt;
+  }
+
+  if (not obswRunning) {
+    if (printNotRunningLatch) {
+      // Reset latch so user can see timeouts
+      printNotRunningLatch = false;
     }
 
-    if(not obswRunning) {
-        if(printNotRunningLatch) {
-            // Reset latch so user can see timeouts
-            printNotRunningLatch = false;
-        }
-
-        obswRunning = true;
-        std::cout << "eive-watchdog: Running OBSW detected.." << std::endl;
+    obswRunning = true;
+    std::cout << "OBSW is running" << std::endl;
 #if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
-        std::cout << "eive-watchdog: Creating " << watchdog::RUNNING_FILE_NAME << std::endl;
-        if (not std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
-            std::ofstream obswRunningFile(watchdog::RUNNING_FILE_NAME);
-            if(not obswRunningFile.good()) {
-                std::cerr << "Creating file " << watchdog::RUNNING_FILE_NAME << " failed"
-                        << std::endl;
-            }
-        }
-#endif
+    std::cout << "Creating " << watchdog::RUNNING_FILE_NAME << std::endl;
+    std::error_code e;
+    if (not std::filesystem::exists(watchdog::RUNNING_FILE_NAME, e)) {
+      std::ofstream obswRunningFile(watchdog::RUNNING_FILE_NAME);
+      if (not obswRunningFile.good()) {
+        std::cerr << "Creating file " << watchdog::RUNNING_FILE_NAME << " failed" << std::endl;
+      }
     }
-    return 0;
+#endif
+  }
+  return 0;
 }
 
 int WatchdogTask::performNotRunningOperation(LoopResult type) {
-    // Latch prevents spam on console
-    if(not printNotRunningLatch) {
-        if(type == LoopResult::HUNG_UP) {
-            std::cout << "eive-watchdog: FIFO writer hung up!" << std::endl;
-        }
-        else {
-            std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
-        }
-        printNotRunningLatch = true;
+  // Latch prevents spam on console
+  if (not printNotRunningLatch) {
+    if (type == LoopResult::HUNG_UP) {
+      std::cout << "OBSW hung up" << std::endl;
+    } else {
+      std::cout << "The FIFO timed out, OBSW might not be running" << std::endl;
     }
+    printNotRunningLatch = true;
+  }
 
-    if(obswRunning) {
+  if (not notRunningStart.has_value()) {
+    notRunningStart = std::chrono::steady_clock::now();
+  }
+
+  if (obswRunning) {
 #if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
-        if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
-            int result = std::remove(watchdog::RUNNING_FILE_NAME.c_str());
-            if(result != 0) {
-                std::cerr << "Removing " << watchdog::RUNNING_FILE_NAME << " failed with code " <<
-                        errno << ": " << strerror(errno) << std::endl;
-            }
-        }
+    std::cout << "Removing " << watchdog::RUNNING_FILE_NAME << std::endl;
+    std::error_code e;
+    if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME, e)) {
+      int result = std::remove(watchdog::RUNNING_FILE_NAME.c_str());
+      if (result != 0) {
+        std::cerr << "Removing " << watchdog::RUNNING_FILE_NAME << " failed with code " << errno
+                  << ": " << strerror(errno) << std::endl;
+      }
+    }
 #endif
-        obswRunning = false;
+    obswRunning = false;
+  }
+
+  if (watchingObsw) {
+    auto timeNotRunning = std::chrono::steady_clock::now() - notRunningStart.value();
+    if (std::chrono::duration_cast<std::chrono::milliseconds>(timeNotRunning).count() >
+        watchdog::MAX_NOT_RUNNING_MS) {
+      std::cout << "Restarting OBSW with systemctl" << std::endl;
+      std::system("systemctl restart obsw");
     }
-    if(type == LoopResult::HUNG_UP) {
-        using namespace std::chrono_literals;
-        // Prevent spam
-        std::this_thread::sleep_for(2000ms);
-    }
-    return 0;
+  }
+  if (type == LoopResult::HUNG_UP) {
+    using namespace std::chrono_literals;
+    // Prevent spam
+    std::this_thread::sleep_for(2000ms);
+  }
+  return 0;
 }
 
-int WatchdogTask::performSuspendOperation() {
-    if(state == States::RUNNING or state == States::FAULTY) {
-        std::cout << "eive-watchdog: Suspending watchdog operations" << std::endl;
-        watchdogRunning = false;
-        state = States::SUSPENDED;
+bool WatchdogTask::stateMachine(LoopResult loopResult) {
+  using namespace std::chrono_literals;
+  bool sleep = false;
+  switch (state) {
+    case (States::RUNNING): {
+      switch (loopResult) {
+        case (LoopResult::TIMEOUT):
+        case (LoopResult::HUNG_UP): {
+          performNotRunningOperation(loopResult);
+          break;
+        }
+        case (LoopResult::OK): {
+          performRunningOperation();
+          break;
+        }
+        case (LoopResult::SUSPEND_REQ): {
+          if (state == States::RUNNING or state == States::FAULTY) {
+            std::cout << "Received suspend request, suspending watchdog operations" << std::endl;
+            state = States::SUSPENDED;
+          }
+          performSuspendOperation();
+          sleep = true;
+          break;
+        }
+        case (LoopResult::CANCEL_REQ): {
+          std::cout << "Received cancel request, closing watchdog.." << std::endl;
+          return false;
+        }
+      }
     }
-    return 0;
+    case (States::FAULTY):
+    case (States::SUSPENDED):
+    case (States::NOT_STARTED): {
+      switch (loopResult) {
+        case (LoopResult::SUSPEND_REQ): {
+          // Ignore and also delay
+          sleep = true;
+          break;
+        }
+        case (LoopResult::START_REQ):
+        case (LoopResult::START_WITH_WATCH_REQ): {
+          if (state == States::NOT_STARTED or state == States::FAULTY) {
+            state = States::RUNNING;
+          }
+          if (loopResult == LoopResult::START_REQ) {
+            std::cout << "Start request without watch request received" << std::endl;
+            watchingObsw = false;
+          } else if (loopResult == LoopResult::START_WITH_WATCH_REQ) {
+            std::cout << "Start request with watch request received. Restarting OBSW if not "
+                         "running for "
+                      << watchdog::MAX_NOT_RUNNING_MS / 1000 << " seconds" << std::endl;
+            watchingObsw = true;
+          }
+          performRunningOperation();
+          break;
+        }
+        default: {
+          sleep = true;
+        }
+      }
+      break;
+    }
+  }
+  if (loopResult == LoopResult::FAULT) {
+    // Configuration error
+    std::cerr << "Fault has occured in watchdog loop" << std::endl;
+    // Prevent spam
+    sleep = true;
+  }
+  if (sleep) {
+    std::this_thread::sleep_for(500ms);
+  }
+  return true;
 }
+
+int WatchdogTask::performSuspendOperation() { return 0; }

watchdog/Watchdog.h

@@ -2,49 +2,55 @@
 #define WATCHDOG_WATCHDOG_H_
 
 #include <array>
+#include <chrono>
 #include <cstdint>
+#include <optional>
+#include <queue>
 #include <string>
 
 class WatchdogTask {
-public:
-    enum class States {
-        NOT_STARTED,
-        RUNNING,
-        SUSPENDED,
-        FAULTY
-    };
+ public:
+  enum class States { NOT_STARTED, RUNNING, SUSPENDED, FAULTY };
 
-    enum class LoopResult {
-        OK,
-        SUSPEND_RQ,
-        CANCEL_RQ,
-        RESTART_RQ,
-        TIMEOUT,
-        HUNG_UP,
-        FAULT
-    };
+  enum class LoopResult {
+    OK,
+    START_REQ,
+    START_WITH_WATCH_REQ,
+    SUSPEND_REQ,
+    CANCEL_REQ,
+    TIMEOUT,
+    HUNG_UP,
+    FAULT
+  };
 
-    WatchdogTask();
+  WatchdogTask();
 
-    virtual ~WatchdogTask();
+  virtual ~WatchdogTask();
 
-    int performOperation();
-private:
-    int fd = 0;
+  int performOperation();
 
-    bool obswRunning = false;
-    bool watchdogRunning = false;
-    bool printNotRunningLatch = false;
-    std::array<uint8_t, 64> buf;
-    States state = States::NOT_STARTED;
+ private:
+  int fd = 0;
 
-    LoopResult watchdogLoop();
-    LoopResult pollEvent(struct pollfd& waiter);
-    LoopResult parseCommandByte(ssize_t readLen);
+  bool obswRunning = false;
+  bool watchingObsw = false;
+  bool printNotRunningLatch = false;
+  std::array<uint8_t, 64> buf;
+  std::queue<LoopResult> resultQueue;
 
-    int performRunningOperation();
-    int performNotRunningOperation(LoopResult type);
-    int performSuspendOperation();
+  std::optional<std::chrono::time_point<std::chrono::steady_clock>> notRunningStart;
+  States state = States::NOT_STARTED;
+
+  // Primary loop. Takes care of delaying, and reading from the communication pipe and translating
+  // messages to loop results.
+  void watchdogLoop();
+  bool stateMachine(LoopResult result);
+  void pollEvent(struct pollfd& waiter);
+  void parseCommands(ssize_t readLen);
+
+  int performRunningOperation();
+  int performNotRunningOperation(LoopResult type);
+  int performSuspendOperation();
 };
 
 #endif /* WATCHDOG_WATCHDOG_H_ */

watchdog/definitions.h

@@ -5,17 +5,31 @@
 
 namespace watchdog {
 
+namespace first {
+
+// Start or restart character
+static constexpr char START_CHAR = 'b';
 // Suspend watchdog operations temporarily
 static constexpr char SUSPEND_CHAR = 's';
-// Resume watchdog operations
-static constexpr char RESTART_CHAR = 'b';
 // Causes the watchdog to close down
 static constexpr char CANCEL_CHAR = 'c';
+static constexpr char IDLE_CHAR = 'i';
+
+}  // namespace first
+
+namespace second {
+
+// Supplied with the start character. This will instruct the watchdog to actually watch
+// the OBSW is runnng all the time.
+static constexpr char WATCH_FLAG = 'w';
+}  // namespace second
 
 static constexpr int TIMEOUT_MS = 5 * 1000;
+// 2 minutes
+static constexpr unsigned MAX_NOT_RUNNING_MS = 2 * 60 * 1000;
 const std::string FIFO_NAME = "/tmp/watchdog-pipe";
 const std::string RUNNING_FILE_NAME = "/tmp/obsw-running";
 
-}
+}  // namespace watchdog
 
 #endif /* WATCHDOG_DEFINITIONS_H_ */

watchdog/main.cpp

@@ -1,24 +1,34 @@
-#include "Watchdog.h"
 
+#include <filesystem>
 #include <iostream>
+#include <string>
+
+#include "Watchdog.h"
+#include "definitions.h"
 
 /**
  * @brief   This watchdog application uses a FIFO to check whether the OBSW is still running.
  *          It checks whether the OBSW writes to the the FIFO regularly.
  */
 int main() {
-    std::cout << "eive-watchdog: Starting OBSW watchdog.." << std::endl;
-    try {
-        WatchdogTask watchdogTask;
-        int result = watchdogTask.performOperation();
-        if(result != 0) {
-            return result;
-        }
+  std::cout << "Starting OBSW watchdog" << std::endl;
+  std::error_code e;
+  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME, e)) {
+    std::cout << "Removing " << watchdog::RUNNING_FILE_NAME << std::endl;
+    int result = std::remove(watchdog::RUNNING_FILE_NAME.c_str());
+    if (result != 0) {
+      std::cerr << "file removal failure" << std::endl;
     }
-    catch(const std::runtime_error& e) {
-        std::cerr << "eive-watchdog: Run time exception " << e.what() << std::endl;
-        return -1;
+  }
+  try {
+    WatchdogTask watchdogTask;
+    int result = watchdogTask.performOperation();
+    if (result != 0) {
+      return result;
     }
-    return 0;
+  } catch (const std::runtime_error& e) {
+    std::cerr << "Run time exception " << e.what() << std::endl;
+    return -1;
+  }
+  return 0;
 }
-