src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -23,8 +23,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
                                      CookieIF* comCookie, FailureIsolationBase* fdirInstance,
                                      size_t cmdQueueSize)
     : SystemObject(setObjectId),
-      mode(MODE_OFF),
-      submode(SUBMODE_NONE),
       wiretappingMode(OFF),
       storedRawData(StorageManagerIF::INVALID_ADDRESS),
       deviceCommunicationId(deviceCommunication),
@@ -39,6 +37,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
       defaultFDIRUsed(fdirInstance == nullptr),
       switchOffWasReported(false),
       childTransitionDelay(5000),
+      mode(MODE_OFF),
+      submode(SUBMODE_NONE),
       transitionSourceMode(_MODE_POWER_DOWN),
       transitionSourceSubMode(SUBMODE_NONE) {
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
@@ -355,7 +355,6 @@ void DeviceHandlerBase::doStateMachine() {
           currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(_MODE_POWER_DOWN);
-        callChildStatemachine();
         break;
       }
       ReturnValue_t switchState = getStateOfSwitches();
@@ -567,8 +566,16 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
 }
 
 void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
-  /* TODO: This will probably be done by the LocalDataPoolManager now */
+
-  // changeHK(mode, submode, false);
+  /**
+   * handle transition from OFF to NORMAL by continuing towards normal when ON is reached
+   */
+  if (newMode == MODE_ON and continueToNormal) {
+    continueToNormal = false;
+    mode = _MODE_TO_NORMAL;
+    return;
+  }
+
   submode = newSubmode;
   mode = newMode;
   modeChanged();
@@ -577,6 +584,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
     disableCommandsAndReplies();
   }
   if (!isTransitionalMode()) {
+    // clear this flag when a non-transitional Mode is reached to be safe
+    continueToNormal = false;
     modeHelper.modeChanged(newMode, newSubmode);
     announceMode(false);
   }
@@ -1061,8 +1070,7 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
   return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
 }
 
-// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the
+// SHOULDDO: throw away DHB and write a new one:
-// way, throw away DHB and write a new one:
 //  - Include power and thermal completely, but more modular :-)
 //  - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
 //  - Modularization?
@@ -1074,11 +1082,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
   if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
     return TRANS_NOT_ALLOWED;
   }
-  if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
-    return TRANS_NOT_ALLOWED;
-  }
 
-  if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) {
+  // Do not check thermal state for MODE_RAW
+  if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
+      (thermalSet != nullptr)) {
     ReturnValue_t result = thermalSet->read();
     if (result == returnvalue::OK) {
       if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
@@ -1093,6 +1100,7 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
 }
 
 void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
+  continueToNormal = false;
   switch (commandedMode) {
     case MODE_ON:
       handleTransitionToOnMode(commandedMode, commandedSubmode);
@@ -1122,8 +1130,9 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
     case MODE_NORMAL:
       if (mode != MODE_OFF) {
         setTransition(MODE_NORMAL, commandedSubmode);
-      } else {
+      } else {  // mode is off
-        replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
+        continueToNormal = true;
+        handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
       }
       break;
   }
@@ -1575,6 +1584,14 @@ void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) {
   this->powerSwitcher = switcher;
 }
 
+Mode_t DeviceHandlerBase::getMode() {
+  return mode;
+}
+
+Submode_t DeviceHandlerBase::getSubmode() {
+  return submode;
+}
+
 void DeviceHandlerBase::disableCommandsAndReplies() {
   for (auto& command : deviceCommandMap) {
     if (command.second.isExecuting) {

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -108,6 +108,54 @@ class DeviceHandlerBase : public DeviceHandlerIF,
 
   void setCustomFdir(FailureIsolationBase *fdir);
   void setPowerSwitcher(PowerSwitchIF *switcher);
+
+  /**
+   * extending the modes of DeviceHandler IF for internal state machine
+   */
+  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
+  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
+  //! This is a transitional state which can not be commanded. The device
+  //! handler performs all commands to get the device in a state ready to
+  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
+  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+  //! This is a transitional state which can not be commanded.
+  //! The device handler performs all actions and commands to get the device
+  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
+  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+  //! transition if available.
+  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+  //! It is possible to set the mode to _MODE_TO_ON to use the to on
+  //! transition if available.
+  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+  //! transition if available.
+  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+  //! transition if available.
+  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+  //! This is a transitional state which can not be commanded.
+  //! The device is shut down and ready to be switched off.
+  //! After the command to set the switch off has been sent,
+  //! the mode changes to @c _MODE_WAIT_OFF
+  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+  //! This is a transitional state which can not be commanded. The device
+  //! will be switched on in this state. After the command to set the switch
+  //! on has been sent, the mode changes to @c _MODE_WAIT_ON.
+  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+  //! This is a transitional state which can not be commanded. The switch has
+  //! been commanded off and the handler waits for it to be off.
+  //! When the switch is off, the mode changes to @c MODE_OFF.
+  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+  //! This is a transitional state which can not be commanded. The switch
+  //! has been commanded on and the handler waits for it to be on.
+  //! When the switch is on, the mode changes to @c _MODE_TO_ON.
+  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+  //! This is a transitional state which can not be commanded. The switch has
+  //! been commanded off and is off now. This state is only to do an RMAP
+  //! cycle once more where the doSendRead() function will set the mode to
+  //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+  static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
+
   void setHkDestination(object_id_t hkDestination);
 
   /**
@@ -704,15 +752,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   size_t rawPacketLen = 0;
 
   /**
-   * The mode the device handler is currently in.
+   * Get the current mode
-   * This should never be changed directly but only with setMode()
+   *
+   * set via setMode()
    */
-  Mode_t mode;
+  Mode_t getMode();
+
   /**
-   * The submode the device handler is currently in.
+   * Get the current Submode
-   * This should never be changed directly but only with setMode()
+   *
+   * set via setMode()
    */
-  Submode_t submode;
+  Submode_t getSubmode();
 
   /** This is the counter value from performOperation(). */
   uint8_t pstStep = 0;
@@ -901,8 +952,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
    *
    * If the transition is complete, the mode should be set to the target mode,
-   * which can be deduced from the current mode which is
+   * which can be deduced from the current mode (which is
-   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
+   * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
    *
    * The intended target submode is already set.
    * The origin submode can be read in subModeFrom.
@@ -1217,6 +1268,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   uint32_t childTransitionDelay;
 
+  /**
+   * The mode the device handler is currently in.
+   * This should not be changed directly but only with setMode()
+   */
+  Mode_t mode;
+
+  /**
+   * The submode the device handler is currently in.
+   * This should not be changed directly but only with setMode()
+   */
+  Submode_t submode;
+
   /**
    * @brief   The mode the current transition originated from
    *
@@ -1234,6 +1297,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   Submode_t transitionSourceSubMode;
 
+  /**
+   * used to make the state machine continue from ON to NOMAL when
+   * a Device is commanded to NORMAL in OFF mode
+   *
+   * set in startTransition()
+   * evaluated in setMode() to continue to NORMAL when ON is reached
+   */
+  bool continueToNormal;
+
   /**
    * read the command queue
    */

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -24,9 +24,6 @@ class DeviceHandlerIF {
   static const DeviceCommandId_t RAW_COMMAND_ID = -1;
   static const DeviceCommandId_t NO_COMMAND_ID = -2;
 
-  static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
-  static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
-
   using dh_heater_request_t = uint8_t;
   using dh_thermal_state_t = int8_t;
 
@@ -54,47 +51,6 @@ class DeviceHandlerIF {
   //! device still is powered. In this mode, only a mode change to @c MODE_OFF
   //! can be commanded, which tries to switch off the device again.
   static const Mode_t MODE_ERROR_ON = 4;
-  //! This is a transitional state which can not be commanded. The device
-  //! handler performs all commands to get the device in a state ready to
-  //! perform commands. When this is completed, the mode changes to @c MODE_ON.
-  static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
-  //! This is a transitional state which can not be commanded.
-  //! The device handler performs all actions and commands to get the device
-  //! shut down. When the device is off, the mode changes to @c MODE_OFF.
-  //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
-  //! transition if available.
-  static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
-  //! It is possible to set the mode to _MODE_TO_ON to use the to on
-  //! transition if available.
-  static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-  //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
-  //! transition if available.
-  static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-  //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
-  //! transition if available.
-  static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-  //! This is a transitional state which can not be commanded.
-  //! The device is shut down and ready to be switched off.
-  //! After the command to set the switch off has been sent,
-  //! the mode changes to @c MODE_WAIT_OFF
-  static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
-  //! This is a transitional state which can not be commanded. The device
-  //! will be switched on in this state. After the command to set the switch
-  //! on has been sent, the mode changes to @c MODE_WAIT_ON.
-  static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and the handler waits for it to be off.
-  //! When the switch is off, the mode changes to @c MODE_OFF.
-  static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
-  //! This is a transitional state which can not be commanded. The switch
-  //! has been commanded on and the handler waits for it to be on.
-  //! When the switch is on, the mode changes to @c MODE_TO_ON.
-  static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
-  //! This is a transitional state which can not be commanded. The switch has
-  //! been commanded off and is off now. This state is only to do an RMAP
-  //! cycle once more where the doSendRead() function will set the mode to
-  //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
-  static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
   static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);

src/fsfw/pus/Service5EventReporting.h

@@ -42,7 +42,7 @@
 class Service5EventReporting : public PusServiceBase {
  public:
   Service5EventReporting(PsbParams params, size_t maxNumberReportsPerCycle = 10,
-                         uint32_t messageQueueDepth = 10);
+                         uint32_t messageQueueDepth = 20);
   ~Service5EventReporting() override;
 
   /***

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -27,8 +27,8 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
   ReturnValue_t result = performService();
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PusService " << psbParams.serviceId << ": performService returned with "
+    sif::error << "PusService " << static_cast<int>(psbParams.serviceId) <<
-               << static_cast<uint16_t>(result) << std::endl;
+        ": performService returned with " << static_cast<uint16_t>(result) << std::endl;
 #endif
     return returnvalue::FAILED;
   }

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -195,7 +195,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
 #endif
       return DeviceHandlerIF::INVALID_DATA;
     }
-    if (mode == _MODE_START_UP) {
+    if (getMode() == _MODE_START_UP) {
       commandExecuted = true;
     }
 
@@ -224,7 +224,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
         return DeviceHandlerIF::INVALID_DATA;
       }
 
-      if (mode == _MODE_START_UP) {
+      if (getMode() == _MODE_START_UP) {
         commandExecuted = true;
       }
     }

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -169,7 +169,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
     case (RM3100::CONFIGURE_CYCLE_COUNT):
     case (RM3100::CONFIGURE_TMRC): {
       // We can only check whether write was successful with read operation
-      if (mode == _MODE_START_UP) {
+      if (getMode() == _MODE_START_UP) {
         commandExecuted = true;
       }
       break;
@@ -192,7 +192,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
       if (packet[1] == tmrcRegValue) {
         commandExecuted = true;
         // Reading TMRC was commanded. Trigger event to inform ground
-        if (mode != _MODE_START_UP) {
+        if (getMode() != _MODE_START_UP) {
           triggerEvent(tmrcSet, tmrcRegValue, 0);
         }
       } else {
@@ -211,7 +211,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
       }
       // Reading TMRC was commanded. Trigger event to inform ground
-      if (mode != _MODE_START_UP) {
+      if (getMode() != _MODE_START_UP) {
         uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
         triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
       }

src/fsfw_tests/integration/devices/TestDeviceHandler.cpp

@@ -65,7 +65,7 @@ ReturnValue_t TestDevice::buildNormalDeviceCommand(DeviceCommandId_t* id) {
 }
 
 ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-  if (mode == _MODE_TO_ON) {
+  if (getMode() == _MODE_TO_ON) {
     if (fullInfoPrintout) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::info << "TestDevice" << deviceIdx
@@ -80,7 +80,7 @@ ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
 #endif
     }
   }
-  if (mode == _MODE_TO_NORMAL) {
+  if (getMode() == _MODE_TO_NORMAL) {
     if (fullInfoPrintout) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::info << "TestDevice" << deviceIdx
@@ -97,7 +97,7 @@ ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
 
     setMode(MODE_NORMAL);
   }
-  if (mode == _MODE_SHUT_DOWN) {
+  if (getMode() == _MODE_SHUT_DOWN) {
     if (fullInfoPrintout) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::info << "TestDevice" << deviceIdx
@@ -118,7 +118,7 @@ ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
 }
 
 void TestDevice::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
-  if (mode == _MODE_TO_NORMAL) {
+  if (getMode() == _MODE_TO_NORMAL) {
     if (fullInfoPrintout) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::info << "TestDevice" << deviceIdx

unittests/mocks/DeviceHandlerMock.cpp

@@ -5,7 +5,7 @@
 DeviceHandlerMock::DeviceHandlerMock(object_id_t objectId, object_id_t deviceCommunication,
                                      CookieIF *comCookie, FailureIsolationBase *fdirInstance)
     : DeviceHandlerBase(objectId, deviceCommunication, comCookie, fdirInstance) {
-  mode = MODE_ON;
+  setMode(MODE_ON);
 }
 
 DeviceHandlerMock::~DeviceHandlerMock() = default;