bsp_q7s/core/CoreController.cpp

@@ -4,9 +4,9 @@
 
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
-#include "fsfw/version.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
+#include "fsfw/version.h"
 #include "watchdogConf.h"
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTmTcBridge.h"

mission/system/AcsBoardAssembly.cpp

@@ -6,8 +6,8 @@
 
 AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
                                    PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
-    : AssemblyBase(objectId, parentId),
+    : DualLaneAssemblyBase(objectId, parentId, switcher, SWITCH_A, SWITCH_B,
-      pwrStateMachine(SWITCH_A, SWITCH_B, switcher),
+                           POWER_STATE_MACHINE_TIMEOUT),
       helper(helper),
       gpioIF(gpioIF) {
   if (switcher == nullptr) {
@@ -19,46 +19,15 @@ AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
     sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid GPIO IF passed" << std::endl;
   }
   ModeListEntry entry;
-  initModeTableEntry(helper.mgm0Lis3IdSideA, entry);
+  initModeTableEntry(helper.mgm0Lis3IdSideA, entry, modeTable);
-  initModeTableEntry(helper.mgm1Rm3100IdSideA, entry);
+  initModeTableEntry(helper.mgm1Rm3100IdSideA, entry, modeTable);
-  initModeTableEntry(helper.mgm2Lis3IdSideB, entry);
+  initModeTableEntry(helper.mgm2Lis3IdSideB, entry, modeTable);
-  initModeTableEntry(helper.mgm3Rm3100IdSideB, entry);
+  initModeTableEntry(helper.mgm3Rm3100IdSideB, entry, modeTable);
-  initModeTableEntry(helper.gyro0AdisIdSideA, entry);
+  initModeTableEntry(helper.gyro0AdisIdSideA, entry, modeTable);
-  initModeTableEntry(helper.gyro1L3gIdSideA, entry);
+  initModeTableEntry(helper.gyro1L3gIdSideA, entry, modeTable);
-  initModeTableEntry(helper.gyro2AdisIdSideB, entry);
+  initModeTableEntry(helper.gyro2AdisIdSideB, entry, modeTable);
-  initModeTableEntry(helper.gyro3L3gIdSideB, entry);
+  initModeTableEntry(helper.gyro3L3gIdSideB, entry, modeTable);
-  initModeTableEntry(helper.gpsId, entry);
+  initModeTableEntry(helper.gpsId, entry, modeTable);
-}
-
-void AcsBoardAssembly::performChildOperation() {
-  using namespace duallane;
-  if (pwrStateMachine.active()) {
-    pwrStateMachineWrapper();
-    // This state is the indicator that the power state machine is done
-  }
-  if (not pwrStateMachine.active()) {
-    AssemblyBase::performChildOperation();
-  }
-}
-
-void AcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
-  using namespace duallane;
-  pwrStateMachine.reset();
-  // If anything other than MODE_OFF is commanded, perform power state machine first
-  if (mode != MODE_OFF) {
-    // Cache the target modes, required by power state machine
-    pwrStateMachine.start(mode, submode);
-    // Cache these for later after the power state machine has finished
-    targetMode = mode;
-    targetSubmode = submode;
-    // Perform power state machine first, then start mode transition. The power state machine will
-    // start the transition after it has finished
-    pwrStateMachineWrapper();
-  } else {
-    // Command the devices to off first before switching off the power. The handleModeReached
-    // custom implementation will take care of starting the power state machine.
-    AssemblyBase::startTransition(mode, submode);
-  }
 }
 
 ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
@@ -95,11 +64,6 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
 ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
   using namespace duallane;
   refreshHelperModes();
-  //  if (state == PwrStates::SWITCHING_POWER) {
-  //    // Wrong mode
-  //    sif::error << "Wrong mode, currently switching power" << std::endl;
-  //    return RETURN_OK;
-  //  }
   if (wantedSubmode == A_SIDE) {
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
@@ -245,34 +209,6 @@ ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
-  if (healthHelper.healthTable->isFaulty(object)) {
-    return false;
-  }
-
-  // Check if device is already in target mode
-  if (childrenMap[object].mode == mode) {
-    return true;
-  }
-
-  if (healthHelper.healthTable->isCommandable(object)) {
-    return true;
-  }
-  return false;
-}
-
-void AcsBoardAssembly::handleModeReached() {
-  using namespace duallane;
-  if (targetMode == MODE_OFF) {
-    pwrStateMachine.start(targetMode, targetSubmode);
-    // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
-    // will be called
-    pwrStateMachineWrapper();
-  } else {
-    finishModeOp();
-  }
-}
-
 void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   using namespace duallane;
   // Some ACS board components are required for Safe-Mode. It would be good if the software
@@ -357,14 +293,6 @@ void AcsBoardAssembly::refreshHelperModes() {
   }
 }
 
-void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
-  entry.setObject(id);
-  entry.setMode(MODE_OFF);
-  entry.setSubmode(SUBMODE_NONE);
-  entry.setInheritSubmode(false);
-  modeTable.insert(entry);
-}
-
 void AcsBoardAssembly::finishModeOp() {
   using namespace duallane;
   AssemblyBase::handleModeReached();
@@ -374,30 +302,6 @@ void AcsBoardAssembly::finishModeOp() {
   dualModeErrorSwitch = true;
 }
 
-ReturnValue_t AcsBoardAssembly::pwrStateMachineWrapper() {
-  using namespace duallane;
-  OpCodes opCode = pwrStateMachine.powerStateMachine();
-  if (opCode == OpCodes::NONE) {
-    return RETURN_OK;
-  } else if (opCode == OpCodes::FINISH_OP) {
-    finishModeOp();
-  } else if (opCode == OpCodes::START_TRANSITION) {
-    AssemblyBase::startTransition(targetMode, targetSubmode);
-  } else if (opCode == OpCodes::TIMEOUT_OCCURED) {
-    if (powerRetryCounter == 0) {
-      powerRetryCounter++;
-      pwrStateMachine.reset();
-    } else {
-#if OBSW_VERBOSE_LEVEL >= 1
-      sif::warning << "Timeout occured in power state machine" << std::endl;
-#endif
-      triggerEvent(POWER_STATE_MACHINE_TIMEOUT, 0, 0);
-      return RETURN_FAILED;
-    }
-  }
-  return RETURN_OK;
-}
-
 ReturnValue_t AcsBoardAssembly::initialize() {
   ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
   if (result != HasReturnvaluesIF::RETURN_OK) {

mission/system/AcsBoardAssembly.h

@@ -3,9 +3,9 @@
 
 #include <common/config/commonSubsystemIds.h>
 #include <devices/powerSwitcherList.h>
-#include <fsfw/devicehandlers/AssemblyBase.h>
 #include <fsfw/objectmanager/frameworkObjects.h>
 
+#include "DualLaneAssemblyBase.h"
 #include "DualLanePowerStateMachine.h"
 
 struct AcsBoardHelper {
@@ -71,15 +71,15 @@ class GpioIF;
  * doing this task would be performed by the device handlers, but this is not possible for the
  * ACS board where multiple sensors share the same power supply.
  */
-class AcsBoardAssembly : public AssemblyBase {
+class AcsBoardAssembly : public DualLaneAssemblyBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_BOARD_ASS;
   static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
-      event::makeEvent(SUBSYSTEM_ID, 0, severity::HIGH);
+      event::makeEvent(SUBSYSTEM_ID, TRANSITION_OTHER_SIDE_FAILED_ID, severity::HIGH);
   static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
-      event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
+      event::makeEvent(SUBSYSTEM_ID, NOT_ENOUGH_DEVICES_DUAL_MODE_ID, severity::HIGH);
   static constexpr Event POWER_STATE_MACHINE_TIMEOUT =
-      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
+      event::makeEvent(SUBSYSTEM_ID, POWER_STATE_MACHINE_TIMEOUT_ID, severity::MEDIUM);
 
   static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
 
@@ -101,12 +101,10 @@ class AcsBoardAssembly : public AssemblyBase {
   static constexpr pcduSwitches::Switches SWITCH_B =
       pcduSwitches::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
 
-  // This helper object complete encapsulates power switching
-  DualLanePowerStateMachine pwrStateMachine;
   bool tryingOtherSide = false;
   AcsBoardHelper helper;
   GpioIF* gpioIF = nullptr;
-  uint8_t powerRetryCounter = 0;
+
   // duallane::PwrStates state = duallane::PwrStates::IDLE;
   duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
   bool dualModeErrorSwitch = true;
@@ -118,30 +116,13 @@ class AcsBoardAssembly : public AssemblyBase {
   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 performChildOperation() override;
+
-  void startTransition(Mode_t mode, Submode_t submode) override;
-  void handleModeReached() override;
   void handleModeTransitionFailed(ReturnValue_t result) override;
   void handleChildrenLostMode(ReturnValue_t result) override;
 
-  /**
-   * Check whether it makes sense to send mode commands to the device
-   * @param object
-   * @param mode
-   * @return
-   */
-  bool isUseable(object_id_t object, Mode_t mode);
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
-  void initModeTableEntry(object_id_t id, ModeListEntry& entry);
   void refreshHelperModes();
   void finishModeOp();
-  /**
-   * Thin wrapper function which is required because the helper class
-   * can not access protected member functions.
-   * @param mode
-   * @param submode
-   */
-  ReturnValue_t pwrStateMachineWrapper();
 };
 
 #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */

mission/system/CMakeLists.txt

@@ -7,4 +7,5 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     ComSubsystem.cpp
     TcsSubsystem.cpp
     DualLanePowerStateMachine.cpp
+    DualLaneAssemblyBase.cpp
 )

mission/system/DualLaneAssemblyBase.cpp

@@ -0,0 +1,92 @@
+#include "DualLaneAssemblyBase.h"
+
+DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId,
+                                           PowerSwitchIF* pwrSwitcher,
+                                           pcduSwitches::Switches switch1,
+                                           pcduSwitches::Switches switch2, Event pwrTimeoutEvent)
+    : AssemblyBase(objectId, parentId),
+      pwrStateMachine(switch1, switch2, pwrSwitcher),
+      pwrTimeoutEvent(pwrTimeoutEvent) {}
+
+void DualLaneAssemblyBase::performChildOperation() {
+  using namespace duallane;
+  if (pwrStateMachine.active()) {
+    pwrStateMachineWrapper();
+    // This state is the indicator that the power state machine is done
+  }
+  if (not pwrStateMachine.active()) {
+    AssemblyBase::performChildOperation();
+  }
+}
+
+void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
+  using namespace duallane;
+  pwrStateMachine.reset();
+  // If anything other than MODE_OFF is commanded, perform power state machine first
+  if (mode != MODE_OFF) {
+    // Cache the target modes, required by power state machine
+    pwrStateMachine.start(mode, submode);
+    // Cache these for later after the power state machine has finished
+    targetMode = mode;
+    targetSubmode = submode;
+    // Perform power state machine first, then start mode transition. The power state machine will
+    // start the transition after it has finished
+    pwrStateMachineWrapper();
+  } else {
+    // Command the devices to off first before switching off the power. The handleModeReached
+    // custom implementation will take care of starting the power state machine.
+    AssemblyBase::startTransition(mode, submode);
+  }
+}
+
+bool DualLaneAssemblyBase::isUseable(object_id_t object, Mode_t mode) {
+  if (healthHelper.healthTable->isFaulty(object)) {
+    return false;
+  }
+
+  // Check if device is already in target mode
+  if (childrenMap[object].mode == mode) {
+    return true;
+  }
+
+  if (healthHelper.healthTable->isCommandable(object)) {
+    return true;
+  }
+  return false;
+}
+
+ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
+  using namespace duallane;
+  OpCodes opCode = pwrStateMachine.powerStateMachine();
+  if (opCode == OpCodes::NONE) {
+    return RETURN_OK;
+  } else if (opCode == OpCodes::FINISH_OP) {
+    finishModeOp();
+  } else if (opCode == OpCodes::START_TRANSITION) {
+    AssemblyBase::startTransition(targetMode, targetSubmode);
+  } else if (opCode == OpCodes::TIMEOUT_OCCURED) {
+    if (powerRetryCounter == 0) {
+      powerRetryCounter++;
+      pwrStateMachine.reset();
+    } else {
+#if OBSW_VERBOSE_LEVEL >= 1
+      sif::warning << "Timeout occured in power state machine" << std::endl;
+#endif
+      triggerEvent(pwrTimeoutEvent, 0, 0);
+      return RETURN_FAILED;
+    }
+  }
+  return RETURN_OK;
+}
+
+void DualLaneAssemblyBase::handleModeReached() {
+  using namespace duallane;
+  if (targetMode == MODE_OFF) {
+    pwrStateMachine.start(targetMode, targetSubmode);
+    // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
+    // will be called
+    pwrStateMachineWrapper();
+  } else {
+    finishModeOp();
+  }
+}

mission/system/DualLaneAssemblyBase.h

@@ -0,0 +1,66 @@
+#ifndef MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
+#define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+#include <mission/system/DualLanePowerStateMachine.h>
+
+class DualLaneAssemblyBase : public AssemblyBase {
+ public:
+  static constexpr uint8_t TRANSITION_OTHER_SIDE_FAILED_ID = 0;
+  static constexpr uint8_t NOT_ENOUGH_DEVICES_DUAL_MODE_ID = 1;
+  static constexpr uint8_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
+
+  DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+                       pcduSwitches::Switches switch1, pcduSwitches::Switches switch2,
+                       Event pwrSwitchTimeoutEvent);
+
+  virtual void performChildOperation() override;
+  virtual void startTransition(Mode_t mode, Submode_t submode) override;
+
+ protected:
+  // This helper object complete encapsulates power switching
+  DualLanePowerStateMachine pwrStateMachine;
+  Event pwrTimeoutEvent;
+  uint8_t powerRetryCounter = 0;
+
+  /**
+   * Check whether it makes sense to send mode commands to the device
+   * @param object
+   * @param mode
+   * @return
+   */
+  bool isUseable(object_id_t object, Mode_t mode);
+  /**
+   * Thin wrapper function which is required because the helper class
+   * can not access protected member functions.
+   * @param mode
+   * @param submode
+   */
+  virtual ReturnValue_t pwrStateMachineWrapper();
+  virtual void handleModeReached();
+
+  /**
+   * Implemented by user. Will be called if a full mode operation has finished.
+   * This includes both the regular mode state machine operations and the power state machine
+   * operations
+   */
+  virtual void finishModeOp() = 0;
+
+  template <size_t MAX_SIZE>
+  void initModeTableEntry(object_id_t id, ModeListEntry& entry,
+                          FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable);
+
+ private:
+};
+
+template <size_t MAX_SIZE>
+inline void DualLaneAssemblyBase::initModeTableEntry(
+    object_id_t id, ModeListEntry& entry, FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable) {
+  entry.setObject(id);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  entry.setInheritSubmode(false);
+  modeTable.insert(entry);
+}
+
+#endif /* MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_ */