CHANGELOG.md

@@ -17,6 +17,12 @@ change warranting a new major release:
 
 # [unreleased]
 
+## Added
+
+- First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes
+  care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+
 # [v1.21.0] 2023-01-26
 
 TMTC version: v2.5.0

bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp

@@ -44,8 +44,7 @@ ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
 
-  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0,
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-                        DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
   thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);

bsp_q7s/em/emObjectFactory.cpp

@@ -4,7 +4,6 @@
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 
 #include "OBSWConfig.h"
-#include "mission/system/tree/comModeTree.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
@@ -15,6 +14,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/system/tree/comModeTree.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();

mission/CMakeLists.txt

@@ -7,3 +7,4 @@ add_subdirectory(tmtc)
 add_subdirectory(system)
 add_subdirectory(csp)
 add_subdirectory(cfdp)
+add_subdirectory(config)

mission/comDefs.h

@@ -18,7 +18,13 @@ enum Submode : uint8_t {
   NUM_SUBMODES
 };
 
-enum class CcsdsSubmode : uint8_t { UNSET = 0, DATARATE_LOW = 1, DATARATE_HIGH = 2 };
+enum class CcsdsSubmode : uint8_t {
+  UNSET = 0,
+  DATARATE_LOW = 1,
+  DATARATE_HIGH = 2,
+  DATARATE_DEFAULT = 3
+};
+enum class ParameterId : uint8_t { DATARATE = 0 };
 
 }  // namespace com
 

mission/config/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE comCfg.cpp torquer.cpp)

mission/config/comCfg.cpp

@@ -0,0 +1,26 @@
+#include "comCfg.h"
+
+#include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/ipc/MutexGuard.h>
+
+com::Datarate DATARATE_CFG_RAW = com::Datarate::LOW_RATE_MODULATION_BPSK;
+MutexIF* DATARATE_LOCK = nullptr;
+
+MutexIF* lazyLock();
+
+com::Datarate com::getCurrentDatarate() {
+  MutexGuard mg(lazyLock());
+  return DATARATE_CFG_RAW;
+}
+
+void com::setCurrentDatarate(com::Datarate newRate) {
+  MutexGuard mg(lazyLock());
+  DATARATE_CFG_RAW = newRate;
+}
+
+MutexIF* lazyLock() {
+  if (DATARATE_LOCK == nullptr) {
+    return MutexFactory::instance()->createMutex();
+  }
+  return DATARATE_LOCK;
+}

mission/config/comCfg.h

@@ -0,0 +1,15 @@
+#ifndef MISSION_COMCFG_H_
+#define MISSION_COMCFG_H_
+
+#include <fsfw/ipc/MutexIF.h>
+
+#include "mission/comDefs.h"
+
+namespace com {
+
+com::Datarate getCurrentDatarate();
+void setCurrentDatarate(com::Datarate newRate);
+
+}  // namespace com
+
+#endif /* MISSION_COMCFG_H_ */

mission/controller/AcsController.cpp

@@ -2,7 +2,7 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#include "mission/devices/torquer.h"
+#include "mission/config/torquer.h"
 
 AcsController::AcsController(object_id_t objectId)
     : ExtendedControllerBase(objectId),

mission/devices/CMakeLists.txt

@@ -20,7 +20,6 @@ target_sources(
           SusHandler.cpp
           PayloadPcduHandler.cpp
           SolarArrayDeploymentHandler.cpp
-          ScexDeviceHandler.cpp
+          ScexDeviceHandler.cpp)
-          torquer.cpp)
 
 add_subdirectory(devicedefinitions)

mission/devices/ImtqHandler.cpp

@@ -25,7 +25,7 @@
 #include <cmath>
 #include <fsfw/datapoollocal/LocalPoolVariable.tpp>
 
-#include "mission/devices/torquer.h"
+#include "mission/config/torquer.h"
 
 static constexpr bool ACTUATION_WIRETAPPING = false;
 

mission/devices/SyrlinksHandler.cpp

@@ -3,6 +3,7 @@
 #include <mission/devices/SyrlinksHandler.h>
 
 #include "OBSWConfig.h"
+#include "mission/config/comCfg.h"
 
 SyrlinksHandler::SyrlinksHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                                  power::Switch_t powerSwitch, FailureIsolationBase* customFdir)
@@ -685,7 +686,7 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
     }
     case (syrlinks::SET_TX_MODE_MODULATION):
     case (syrlinks::SET_TX_MODE_CW): {
-      triggerEvent(syrlinks::TX_ON, getSubmode(), datarateCfgRaw);
+      triggerEvent(syrlinks::TX_ON, getSubmode(), static_cast<uint8_t>(com::getCurrentDatarate()));
       break;
     }
   }
@@ -706,18 +707,6 @@ ReturnValue_t SyrlinksHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
                                             ParameterWrapper* parameterWrapper,
                                             const ParameterWrapper* newValues,
                                             uint16_t startAtIndex) {
-  if ((domainId == 0) and (uniqueId == static_cast<uint8_t>(syrlinks::ParameterId::DATARATE))) {
-    uint8_t newVal = 0;
-    ReturnValue_t result = newValues->getElement(&newVal);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    if (newVal >= static_cast<uint8_t>(com::Datarate::NUM_DATARATES)) {
-      return HasParametersIF::INVALID_VALUE;
-    }
-    parameterWrapper->set(datarateCfgRaw);
-    return returnvalue::OK;
-  }
   return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
                                          startAtIndex);
 }
@@ -773,12 +762,12 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   if (tgtMode == HasModesIF::MODE_ON or tgtMode == DeviceHandlerIF::MODE_NORMAL) {
     switch (getSubmode()) {
       case (com::Submode::RX_AND_TX_DEFAULT_DATARATE): {
-        if (datarateCfgRaw == static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK)) {
+        auto currentDatarate = com::getCurrentDatarate();
+        if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
           if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
             return;
           }
-        } else if (datarateCfgRaw ==
+        } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
-                   static_cast<uint8_t>(com::Datarate::HIGH_RATE_MODULATION_0QPSK)) {
           if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
             return;
           }

mission/devices/SyrlinksHandler.h

@@ -104,9 +104,6 @@ class SyrlinksHandler : public DeviceHandlerBase {
   syrlinks::TemperatureSet temperatureSet;
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
-  // Use uint8_t for compatibility with parameter interface
-  uint8_t datarateCfgRaw = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
-  // com::Datarate datarateCfg = com::Datarate::LOW_RATE_MODULATION_BPSK;
 
   bool debugMode = false;
   uint8_t agcValueHighByte = 0;

mission/system/objects/ComSubsystem.cpp

@@ -1,5 +1,32 @@
 #include "ComSubsystem.h"
 
+#include <fsfw/ipc/MutexGuard.h>
+
+#include "mission/config/comCfg.h"
+
 ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                            uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables), paramHelper(this) {
+  com::setCurrentDatarate(com::Datarate::LOW_RATE_MODULATION_BPSK);
+}
+
+MessageQueueId_t ComSubsystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
+
+ReturnValue_t ComSubsystem::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                                         ParameterWrapper *parameterWrapper,
+                                         const ParameterWrapper *newValues, uint16_t startAtIndex) {
+  if ((domainId == 0) and (uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::DATARATE))) {
+    uint8_t newVal = 0;
+    ReturnValue_t result = newValues->getElement(&newVal);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    if (newVal >= static_cast<uint8_t>(com::Datarate::NUM_DATARATES)) {
+      return HasParametersIF::INVALID_VALUE;
+    }
+    parameterWrapper->set(datarateCfg);
+    com::setCurrentDatarate(static_cast<com::Datarate>(newVal));
+    return returnvalue::OK;
+  }
+  return returnvalue::OK;
+}

mission/system/objects/ComSubsystem.h

@@ -1,13 +1,24 @@
 #ifndef MISSION_SYSTEM_COMSUBSYSTEM_H_
 #define MISSION_SYSTEM_COMSUBSYSTEM_H_
 
+#include <fsfw/parameters/HasParametersIF.h>
+#include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/subsystem/Subsystem.h>
 
-class ComSubsystem : public Subsystem {
+#include "mission/comDefs.h"
+
+class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
  public:
   ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 
+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
+                             uint16_t startAtIndex) override;
+
  private:
+  uint8_t datarateCfg = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
+  ParameterHelper paramHelper;
 };
 
 #endif /* MISSION_SYSTEM_COMSUBSYSTEM_H_ */

mission/system/tree/comModeTree.cpp

@@ -19,7 +19,8 @@ static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
 auto COM_SEQUENCE_RX_ONLY =
     std::make_pair(::com::Submode::RX_ONLY, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_ONLY_TGT = std::make_pair((::com::Submode::RX_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TGT =
+    std::make_pair((::com::Submode::RX_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 3>());
 auto COM_TABLE_RX_ONLY_TRANS_0 =
     std::make_pair((::com::Submode::RX_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 3>());
 auto COM_TABLE_RX_ONLY_TRANS_1 =
@@ -27,26 +28,28 @@ auto COM_TABLE_RX_ONLY_TRANS_1 =
 
 auto COM_SEQUENCE_RX_AND_TX_LOW_RATE =
     std::make_pair(::com::Submode::RX_AND_TX_LOW_DATARATE, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_LOW_RATE_TGT =
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TGT = std::make_pair(
-    std::make_pair((::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0 =
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0 = std::make_pair(
-    std::make_pair((::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1 =
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1 = std::make_pair(
-    std::make_pair((::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
 
 auto COM_SEQUENCE_RX_AND_TX_HIGH_RATE =
     std::make_pair(::com::Submode::RX_AND_TX_HIGH_DATARATE, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_HIGH_RATE_TGT =
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TGT = std::make_pair(
-    std::make_pair((::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0 =
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0 = std::make_pair(
-    std::make_pair((::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1 =
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1 = std::make_pair(
-    std::make_pair((::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
 
 namespace {
+
 void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh);
 void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh);
 void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh);
+
 }  // namespace
 
 void satsystem::com::init() {

mission/tmtc/CcsdsIpCoreHandler.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/subsystem/helper.h>
 #include <linux/ipcore/PdecHandler.h>
 #include <linux/ipcore/PtmeConfig.h>
+#include <mission/config/comCfg.h>
 
 #include "eive/definitions.h"
 #include "fsfw/events/EventManagerIF.h"
@@ -378,18 +379,31 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
 }
 
 void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
-  if (mode == HasModesIF::MODE_ON) {
+  auto rateHigh = [&]() {
-    enableTransmit();
-    if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
     ReturnValue_t result = ptmeConfig->setRate(RATE_500KBPS);
     if (result == returnvalue::OK) {
       mode = HasModesIF::MODE_ON;
     }
-    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
+  };
+  auto rateLow = [&]() {
     ReturnValue_t result = ptmeConfig->setRate(RATE_100KBPS);
     if (result == returnvalue::OK) {
       mode = HasModesIF::MODE_ON;
     }
+  };
+  if (mode == HasModesIF::MODE_ON) {
+    enableTransmit();
+    if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
+      com::Datarate currentDatarate = com::getCurrentDatarate();
+      if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
+        rateLow();
+      } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
+        rateHigh();
+      }
+    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
+      rateHigh();
+    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
+      rateLow();
     }
   } else if (mode == HasModesIF::MODE_OFF) {
     disableTransmit();
@@ -399,9 +413,7 @@ void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
   announceMode(false);
 }
 
-void CcsdsIpCoreHandler::announceMode(bool recursive) {
+void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
-	triggerEvent(MODE_INFO, mode, submode);
-}
 
 void CcsdsIpCoreHandler::disableTransmit() {
 #ifndef TE0720_1CFA