CHANGELOG.md

@@ -16,6 +16,7 @@ list yields a list of all related PRs for each release.
 ## Added
 
 - ACS Subsystem
+- Custom Syrlinks FDIR which disabled most of the default FDIR functionality
 
 ## Changed
 

bsp_q7s/core/ObjectFactory.cpp

@@ -1,5 +1,8 @@
 #include "ObjectFactory.h"
 
+#include <mission/system/fdir/GomspacePowerFdir.h>
+#include <mission/system/fdir/SyrlinksFdir.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@@ -37,10 +40,10 @@
 #include "linux/obc/PdecHandler.h"
 #include "linux/obc/Ptme.h"
 #include "linux/obc/PtmeConfig.h"
-#include "mission/system/objects/AcsBoardFdir.h"
+#include "mission/system/fdir/AcsBoardFdir.h"
-#include "mission/system/objects/RtdFdir.h"
+#include "mission/system/fdir/RtdFdir.h"
+#include "mission/system/fdir/SusFdir.h"
 #include "mission/system/objects/SusAssembly.h"
-#include "mission/system/objects/SusFdir.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
 #include "tmtc/apid.h"
@@ -255,14 +258,22 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
   CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
   CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
-  /* Device Handler */
+
+  auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
   P60DockHandler* p60dockhandler =
-      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
+      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
+
+  auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
   PDU1Handler* pdu1handler =
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
+      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
+
+  auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
   PDU2Handler* pdu2handler =
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
+      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
-  ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
+
+  auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
+  ACUHandler* acuhandler =
+      new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
   auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
 
   /**
@@ -645,8 +656,10 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
                      syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
-  auto syrlinksHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF,
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
-                                               syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V);
+  auto syrlinksHandler =
+      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);

common/config/commonSubsystemIds.h

@@ -30,6 +30,7 @@ enum: uint8_t {
 	PDU1_HANDLER = 133,
 	PDU2_HANDLER = 134,
 	ACU_HANDLER = 135,
+	SYRLINKS = 136,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

linux/ObjectFactory.cpp

@@ -9,9 +9,9 @@
 #include <linux/callbacks/gpioCallbacks.h>
 #include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/SusHandler.h>
-#include <mission/system/objects/RtdFdir.h>
+#include <mission/system/fdir/RtdFdir.h>
+#include <mission/system/fdir/SusFdir.h>
 #include <mission/system/objects/SusAssembly.h>
-#include <mission/system/objects/SusFdir.h>
 #include <mission/system/objects/TcsBoardAssembly.h>
 
 #include "OBSWConfig.h"

mission/devices/ACUHandler.cpp

@@ -2,8 +2,9 @@
 
 #include "OBSWConfig.h"
 
-ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
+ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
+                       FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, ACU::MAX_CONFIGTABLE_ADDRESS,
                             ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_REPLY_SIZE),
       acuHkTableDataset(this) {}
 

mission/devices/ACUHandler.h

@@ -12,7 +12,8 @@
  */
 class ACUHandler : public GomspaceDeviceHandler {
  public:
-  ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+             FailureIsolationBase* customFdir);
   virtual ~ACUHandler();
 
   void setDebugMode(bool enable);

mission/devices/GomspaceDeviceHandler.cpp

@@ -7,9 +7,10 @@
 #include "devicedefinitions/powerDefinitions.h"
 
 GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
-                                             CookieIF* comCookie, uint16_t maxConfigTableAddress,
+                                             CookieIF* comCookie, FailureIsolationBase* customFdir,
+                                             uint16_t maxConfigTableAddress,
                                              uint16_t maxHkTableAddress, uint16_t hkTableReplySize)
-    : DeviceHandlerBase(objectId, comIF, comCookie),
+    : DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
       maxConfigTableAddress(maxConfigTableAddress),
       maxHkTableAddress(maxHkTableAddress),
       hkTableReplySize(hkTableReplySize) {

mission/devices/GomspaceDeviceHandler.h

@@ -38,8 +38,8 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
    * 							device.
    */
   GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-                        uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
+                        FailureIsolationBase *customFdir, uint16_t maxConfigTableAddress,
-                        uint16_t hkTableReplySize);
+                        uint16_t maxHkTableAddress, uint16_t hkTableReplySize);
   virtual ~GomspaceDeviceHandler();
 
   /**

mission/devices/P60DockHandler.cpp

@@ -4,9 +4,11 @@
 
 #include "OBSWConfig.h"
 
-P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
+P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
+                               FailureIsolationBase *customFdir)
-                            P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE),
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir,
+                            P60Dock::MAX_CONFIGTABLE_ADDRESS, P60Dock::MAX_HKTABLE_ADDRESS,
+                            P60Dock::HK_TABLE_REPLY_SIZE),
       coreHk(this),
       auxHk(this) {}
 

mission/devices/P60DockHandler.h

@@ -21,7 +21,8 @@ class P60DockHandler : public GomspaceDeviceHandler {
   //! [EXPORT] : [COMMENT] Battery mode has changed. P1: Old mode. P2: New mode
   static constexpr Event BATT_MODE_CHANGED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
 
-  P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+                 FailureIsolationBase* customFdir);
   virtual ~P60DockHandler();
 
   void setDebugMode(bool enable);

mission/devices/PDU1Handler.cpp

@@ -5,8 +5,9 @@
 
 #include "devices/powerSwitcherList.h"
 
-PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
+PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+                         FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
                             PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
       coreHk(this),
       auxHk(this) {}

mission/devices/PDU1Handler.h

@@ -21,7 +21,8 @@
  */
 class PDU1Handler : public GomspaceDeviceHandler {
  public:
-  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+              FailureIsolationBase* customFdir);
   virtual ~PDU1Handler();
 
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

mission/devices/PDU2Handler.cpp

@@ -5,8 +5,9 @@
 
 #include "devices/powerSwitcherList.h"
 
-PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
+PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-    : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+                         FailureIsolationBase *customFdir)
+    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir, PDU::MAX_CONFIGTABLE_ADDRESS,
                             PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
       coreHk(this),
       auxHk(this) {}

mission/devices/PDU2Handler.h

@@ -21,7 +21,8 @@
  */
 class PDU2Handler : public GomspaceDeviceHandler {
  public:
-  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+              FailureIsolationBase* customFdir);
   virtual ~PDU2Handler();
 
   virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

mission/devices/SyrlinksHkHandler.cpp

@@ -5,8 +5,8 @@
 #include "OBSWConfig.h"
 
 SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                     power::Switch_t powerSwitch)
+                                     power::Switch_t powerSwitch, FailureIsolationBase* customFdir)
-    : DeviceHandlerBase(objectId, comIF, comCookie),
+    : DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
       rxDataset(this),
       txDataset(this),
       temperatureSet(this),

mission/devices/SyrlinksHkHandler.h

@@ -20,7 +20,7 @@
 class SyrlinksHkHandler : public DeviceHandlerBase {
  public:
   SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                    power::Switch_t powerSwitch);
+                    power::Switch_t powerSwitch, FailureIsolationBase* customFdir);
   virtual ~SyrlinksHkHandler();
 
   /**

mission/devices/devicedefinitions/SyrlinksDefinitions.h

@@ -1,8 +1,14 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_
 
+#include <commonSubsystemIds.h>
+
 namespace syrlinks {
 
+static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS;
+
+static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+
 static const DeviceCommandId_t NONE = 0;
 static const DeviceCommandId_t RESET_UNIT = 1;
 /** Reads out all status registers */

mission/devices/devicedefinitions/powerDefinitions.h

@@ -15,6 +15,8 @@ static constexpr Event SWITCH_CMD_SENT = event::makeEvent(SUBSYSTEM_ID, 0, sever
 static constexpr Event SWITCH_HAS_CHANGED = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
 
+static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+
 }  // namespace power
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_POWERDEFINITIONS_H_ */

mission/system/CMakeLists.txt

@@ -1,2 +1,3 @@
 add_subdirectory(objects)
 add_subdirectory(tree)
+add_subdirectory(fdir)

mission/system/fdir/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE
+    AcsBoardFdir.cpp
+    RtdFdir.cpp
+    SusFdir.cpp
+    SyrlinksFdir.cpp
+    GomspacePowerFdir.cpp
+)

mission/system/fdir/GomspacePowerFdir.cpp

@@ -0,0 +1,128 @@
+#include "GomspacePowerFdir.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/health/HealthTableIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/power/Fuse.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/thermal/ThermalComponentIF.h"
+#include "mission/devices/devicedefinitions/powerDefinitions.h"
+
+GomspacePowerFdir::GomspacePowerFdir(object_id_t devId, object_id_t parentId)
+    : DeviceHandlerFailureIsolation(devId, parentId) {}
+
+ReturnValue_t GomspacePowerFdir::eventReceived(EventMessage* event) {
+  if (isFdirInActionOrAreWeFaulty(event)) {
+    return RETURN_OK;
+  }
+  ReturnValue_t result = RETURN_FAILED;
+  switch (event->getEvent()) {
+    case HasModesIF::MODE_TRANSITION_FAILED:
+    case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
+      // We'll try a recovery as long as defined in MAX_REBOOT.
+      // Might cause some AssemblyBase cycles, so keep number low.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
+    case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY:  // Some DH's generate generic reply-ids.
+    case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
+      // These faults all mean that there were stupid replies from a device.
+      if (strangeReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+      // The two above should never be confirmed.
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      result = sendConfirmationRequest(event);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        break;
+      }
+      // else
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case StorageManagerIF::GET_DATA_FAILED:
+    case StorageManagerIF::STORE_DATA_FAILED:
+      // Rather strange bugs, occur in RAW mode only. Ignore.
+      break;
+    case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
+      // Ignore, is bad configuration. We can't do anything in flight.
+      break;
+    case HasHealthIF::HEALTH_INFO:
+    case HasModesIF::MODE_INFO:
+    case HasModesIF::CHANGING_MODE:
+      // Do nothing, but mark as handled.
+      break;
+      //****Power*****
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      if (powerConfirmation != MessageQueueIF::NO_QUEUE) {
+        result = sendConfirmationRequest(event, powerConfirmation);
+        if (result == RETURN_OK) {
+          setFdirState(DEVICE_MIGHT_BE_OFF);
+        }
+      }
+      break;
+    case Fuse::FUSE_WENT_OFF:
+      // Not so good, because PCDU reacted.
+    case Fuse::POWER_ABOVE_HIGH_LIMIT:
+      // Better, because software detected over-current.
+      setFaulty(event->getEvent());
+      break;
+    case Fuse::POWER_BELOW_LOW_LIMIT:
+      // Device might got stuck during boot, retry.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+      //****Thermal*****
+    case ThermalComponentIF::COMPONENT_TEMP_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_HIGH:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
+      // Well, the device is not really faulty, but it is required to stay off as long as possible.
+      setFaulty(event->getEvent());
+      break;
+    case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
+      // Ignore, is information only.
+      break;
+      //*******Default monitoring variables. Are currently not used.*****
+      //    case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
+      //        setFaulty(event->getEvent());
+      //        break;
+      //    case DeviceHandlerIF::MONITORING_AMBIGUOUS:
+      //        break;
+    default:
+      // We don't know the event, someone else should handle it.
+      return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void GomspacePowerFdir::eventConfirmed(EventMessage* event) {
+  switch (event->getEvent()) {
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      // This means the switch went off only for one device.
+      // handleRecovery(event->getEvent());
+      triggerEvent(power::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    default:
+      break;
+  }
+}

mission/system/fdir/GomspacePowerFdir.h

@@ -0,0 +1,15 @@
+#ifndef MISSION_SYSTEM_FDIR_GOMSPACEPOWERFDIR_H_
+#define MISSION_SYSTEM_FDIR_GOMSPACEPOWERFDIR_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+class GomspacePowerFdir : public DeviceHandlerFailureIsolation {
+ public:
+  GomspacePowerFdir(object_id_t devId, object_id_t parentId = objects::NO_OBJECT);
+
+ private:
+  ReturnValue_t eventReceived(EventMessage* event) override;
+  void eventConfirmed(EventMessage* event) override;
+};
+
+#endif /* MISSION_SYSTEM_FDIR_GOMSPACEPOWERFDIR_H_ */

mission/system/fdir/SyrlinksFdir.cpp

@@ -0,0 +1,128 @@
+#include "SyrlinksFdir.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/health/HealthTableIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/power/Fuse.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/thermal/ThermalComponentIF.h"
+#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+
+SyrlinksFdir::SyrlinksFdir(object_id_t syrlinksId)
+    : DeviceHandlerFailureIsolation(syrlinksId, objects::NO_OBJECT) {}
+
+ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
+  if (isFdirInActionOrAreWeFaulty(event)) {
+    return RETURN_OK;
+  }
+  ReturnValue_t result = RETURN_FAILED;
+  switch (event->getEvent()) {
+    case HasModesIF::MODE_TRANSITION_FAILED:
+    case HasModesIF::OBJECT_IN_INVALID_MODE:
+    case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT:
+      // We'll try a recovery as long as defined in MAX_REBOOT.
+      // Might cause some AssemblyBase cycles, so keep number low.
+      // handleRecovery(event->getEvent());
+      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_UNREQUESTED_REPLY:
+    case DeviceHandlerIF::DEVICE_UNKNOWN_REPLY:  // Some DH's generate generic reply-ids.
+    case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED:
+      // These faults all mean that there were stupid replies from a device.
+      if (strangeReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+      // The two above should never be confirmed.
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      result = sendConfirmationRequest(event);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        break;
+      }
+      // else
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case StorageManagerIF::GET_DATA_FAILED:
+    case StorageManagerIF::STORE_DATA_FAILED:
+      // Rather strange bugs, occur in RAW mode only. Ignore.
+      break;
+    case DeviceHandlerIF::INVALID_DEVICE_COMMAND:
+      // Ignore, is bad configuration. We can't do anything in flight.
+      break;
+    case HasHealthIF::HEALTH_INFO:
+    case HasModesIF::MODE_INFO:
+    case HasModesIF::CHANGING_MODE:
+      // Do nothing, but mark as handled.
+      break;
+      //****Power*****
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      if (powerConfirmation != MessageQueueIF::NO_QUEUE) {
+        result = sendConfirmationRequest(event, powerConfirmation);
+        if (result == RETURN_OK) {
+          setFdirState(DEVICE_MIGHT_BE_OFF);
+        }
+      }
+      break;
+    case Fuse::FUSE_WENT_OFF:
+      // Not so good, because PCDU reacted.
+    case Fuse::POWER_ABOVE_HIGH_LIMIT:
+      // Better, because software detected over-current.
+      setFaulty(event->getEvent());
+      break;
+    case Fuse::POWER_BELOW_LOW_LIMIT:
+      // Device might got stuck during boot, retry.
+      // handleRecovery(event->getEvent());
+      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+      //****Thermal*****
+    case ThermalComponentIF::COMPONENT_TEMP_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_HIGH:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_LOW:
+    case ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH:
+      // Well, the device is not really faulty, but it is required to stay off as long as possible.
+      setFaulty(event->getEvent());
+      break;
+    case ThermalComponentIF::TEMP_NOT_IN_OP_RANGE:
+      // Ignore, is information only.
+      break;
+      //*******Default monitoring variables. Are currently not used.*****
+      //    case DeviceHandlerIF::MONITORING_LIMIT_EXCEEDED:
+      //        setFaulty(event->getEvent());
+      //        break;
+      //    case DeviceHandlerIF::MONITORING_AMBIGUOUS:
+      //        break;
+    default:
+      // We don't know the event, someone else should handle it.
+      return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
+void SyrlinksFdir::eventConfirmed(EventMessage* event) {
+  switch (event->getEvent()) {
+    case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED:
+    case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED:
+    case DeviceHandlerIF::DEVICE_MISSED_REPLY:
+      if (missedReplyCount.incrementAndCheck()) {
+        // handleRecovery(event->getEvent());
+        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      }
+      break;
+    case PowerSwitchIF::SWITCH_WENT_OFF:
+      // This means the switch went off only for one device.
+      // handleRecovery(event->getEvent());
+      triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+      break;
+    default:
+      break;
+  }
+}

mission/system/fdir/SyrlinksFdir.h

@@ -0,0 +1,15 @@
+#ifndef MISSION_DEVICES_SYRLINKSFDIR_H_
+#define MISSION_DEVICES_SYRLINKSFDIR_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+class SyrlinksFdir : public DeviceHandlerFailureIsolation {
+ public:
+  SyrlinksFdir(object_id_t syrlinksId);
+
+ private:
+  ReturnValue_t eventReceived(EventMessage* event) override;
+  void eventConfirmed(EventMessage* event) override;
+};
+
+#endif /* MISSION_DEVICES_SYRLINKSFDIR_H_ */

mission/system/objects/CMakeLists.txt

@@ -10,8 +10,4 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     PowerStateMachineBase.cpp
     DualLaneAssemblyBase.cpp
     TcsBoardAssembly.cpp
-
-    AcsBoardFdir.cpp
-    SusFdir.cpp
-    RtdFdir.cpp
 )

mission/system/tree/acsModeTree.cpp

@@ -120,8 +120,8 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
   ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
   ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
   check(ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
-                      false, true),
+                        false, true),
-      ctxc);
+        ctxc);
 }
 
 void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
@@ -157,20 +157,20 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::RW_ASS, 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);
+        ctxc);
 
   // Build SAFE transition 1
   iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
   check(ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
-      ctxc);
+        ctxc);
 
   // Build SAFE sequence
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
   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_OFF.first,
-                      false, true),
+                        false, true),
-      ctxc);
+        ctxc);
 }
 
 void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
@@ -198,7 +198,7 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
   check(ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
-      ctxc);
+        ctxc);
 
   // Build DETUMBLE transition 0
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
@@ -207,22 +207,22 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   iht(objects::RW_ASS, 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),
+                     true),
-      ctxc);
+        ctxc);
 
   // Build DETUMBLE transition 1
   iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
   check(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
-                   true),
+                     true),
-      ctxc);
+        ctxc);
 
   // Build DETUMBLE sequence
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
   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,
-                      ACS_SEQUENCE_SAFE.first, false, true),
+                        ACS_SEQUENCE_SAFE.first, false, true),
-      ctxc);
+        ctxc);
 }
 
 void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
@@ -298,7 +298,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
   check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
-      ctxc);
+        ctxc);
 
   // Build IDLE transition 0
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
@@ -307,23 +307,23 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
   check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
-                   true),
+                     true),
-      ctxc);
+        ctxc);
 
   // Build IDLE transition 1
   iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
       ACS_TABLE_IDLE_CHRG_TRANS_1.second);
   check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
-                   true),
+                     true),
-      ctxc);
+        ctxc);
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
   ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
   check(ss->addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
-                      ACS_SEQUENCE_SAFE.first, false, true),
+                        ACS_SEQUENCE_SAFE.first, false, true),
-      ctxc);
+        ctxc);
 }
 
 void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
@@ -354,7 +354,7 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
   check(ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
-      ctxc);
+        ctxc);
 
   // Build TARGET PT transition 0
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
@@ -363,22 +363,22 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
   check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
-                   true),
+                     true),
-      ctxc);
+        ctxc);
 
   // Build TARGET PT transition 1
   iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
   check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
-                   true),
+                     true),
-      ctxc);
+        ctxc);
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
   ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
   check(ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
-                      ACS_SEQUENCE_IDLE.first, false, true),
+                        ACS_SEQUENCE_IDLE.first, false, true),
-      ctxc);
+        ctxc);
 }
 
 void checkInsert(ReturnValue_t result, const char* ctx) {

tmtc

@@ -1 +1 @@
-Subproject commit 76da8042a4601087e99fa856af241afe9e43695d
+Subproject commit 8d0a83122932deb49a9e536bea1a0b5723b1cb2a