src/fsfw/controller/ControllerBase.cpp

@@ -102,6 +102,10 @@ const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; }
 
 const HasModesIF& ControllerBase::getModeIF() const { return *this; }
 
+ModeTreeChildIF& ControllerBase::getModeTreeChildIF() {
+  return *this;
+}
+
 ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
   return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
 }

src/fsfw/controller/ControllerBase.h

@@ -8,7 +8,7 @@
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/subsystem/HasModeTreeChildrenIF.h"
 #include "fsfw/subsystem/ModeTreeChildIF.h"
-#include "fsfw/subsystem/modes/ModeTreeConnectionIF.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
@@ -31,6 +31,7 @@ class ControllerBase : public HasModesIF,
   ~ControllerBase() override;
 
   ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
 
   /** SystemObject override */
   ReturnValue_t initialize() override;

src/fsfw/devicehandlers/ChildHandlerBase.cpp

@@ -3,11 +3,11 @@
 #include "fsfw/subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-                                   CookieIF* cookie, object_id_t parent,
+                                   CookieIF* cookie, HasModeTreeChildrenIF& parent,
                                    FailureIsolationBase* customFdir, size_t cmdQueueSize)
     : DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
                         (customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize),
-      parentId(parent),
+      parent(parent),
       childHandlerFdir(setObjectId) {}
 
 ChildHandlerBase::~ChildHandlerBase() {}
@@ -18,22 +18,5 @@ ReturnValue_t ChildHandlerBase::initialize() {
     return result;
   }
 
-  // TODO: Fix this
+  return DeviceHandlerBase::connectModeTreeParent(parent);
-  //  MessageQueueId_t parentQueue = 0;
-  //
-  //  if (parentId != objects::NO_OBJECT) {
-  //    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
-  //    if (parent == NULL) {
-  //      return returnvalue::FAILED;
-  //    }
-  //    parentQueue = parent->getCommandQueue();
-  //
-  //    parent->registerChild(getObjectId());
-  //  }
-  //
-  //  healthHelper.setParentQueue(parentQueue);
-  //
-  //  modeHelper.setParentQueue(parentQueue);
-
-  return returnvalue::OK;
 }

src/fsfw/devicehandlers/ChildHandlerBase.h

@@ -1,13 +1,14 @@
 #ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 #define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 
+#include <fsfw/subsystem/HasModeTreeChildrenIF.h>
 #include "ChildHandlerFDIR.h"
 #include "DeviceHandlerBase.h"
 
 class ChildHandlerBase : public DeviceHandlerBase {
  public:
   ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF* cookie,
-                   object_id_t parent = objects::NO_OBJECT,
+                   HasModeTreeChildrenIF& parent,
                    FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
 
   virtual ~ChildHandlerBase();
@@ -15,7 +16,7 @@ class ChildHandlerBase : public DeviceHandlerBase {
   virtual ReturnValue_t initialize();
 
  protected:
-  const uint32_t parentId;
+  HasModeTreeChildrenIF& parent;
   ChildHandlerFDIR childHandlerFdir;
 };
 

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,5 +1,6 @@
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "DeviceHandlerBase.h"
 
+#include "fsfw/subsystem/helper.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@@ -1591,3 +1592,19 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
     }
   }
 }
+
+ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF &parent) {
+  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+}
+
+const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const {
+  return this;
+}
+
+const HasModesIF& DeviceHandlerBase::getModeIF() const {
+  return *this;
+}
+
+ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() {
+  return *this;
+}

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -11,6 +11,7 @@
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/datapool/PoolVariableIF.h"
 #include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/health/HealthHelper.h"
 #include "fsfw/ipc/MessageQueueIF.h"
@@ -84,6 +85,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
                           public HasModesIF,
                           public HasHealthIF,
                           public HasActionsIF,
+                          public ModeTreeChildIF,
+                          public ModeTreeConnectionIF,
                           public ReceivesParameterMessagesIF,
                           public HasLocalDataPoolIF {
   friend void(Factory::setStaticFrameworkObjectIds)();
@@ -120,6 +123,10 @@ class DeviceHandlerBase : public DeviceHandlerIF,
       lp_id_t thermalStatePoolId = DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
       lp_id_t thermalRequestPoolId = DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
       uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
+
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
+
   /**
    * @brief   Helper function to ease device handler development.
    * This will instruct the transition to MODE_ON immediately
@@ -165,7 +172,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param counter Specifies which Action to perform
    * @return returnvalue::OK for successful execution
    */
-  virtual ReturnValue_t performOperation(uint8_t counter) override;
+  ReturnValue_t performOperation(uint8_t counter) override;
 
   /**
    * @brief  Initializes the device handler
@@ -175,14 +182,14 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * Calls fillCommandAndReplyMap().
    * @return
    */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
   /**
    * @brief   Intialization steps performed after all tasks have been created.
    *          This function will be called by the executing task.
    * @return
    */
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
   /** Destructor. */
   virtual ~DeviceHandlerBase();
@@ -960,6 +967,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   LocalDataPoolManager *getHkManagerHandle() override;
 
+  const HasHealthIF* getOptHealthIF() const override;
+  const HasModesIF& getModeIF() const override;
+
   /**
    * Returns the delay cycle count of a reply.
    * A count != 0 indicates that the command is already executed.

src/fsfw/subsystem/ModeTreeConnectionIF.h

@@ -7,6 +7,7 @@ class ModeTreeConnectionIF {
  public:
   virtual ~ModeTreeConnectionIF() = default;
   virtual ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) = 0;
+  virtual ModeTreeChildIF& getModeTreeChildIF() = 0;
 };
 
 #endif /* FSFW_SRC_FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_ */

src/fsfw/subsystem/SubsystemBase.cpp

@@ -300,4 +300,10 @@ ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) {
 
 const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
 
-const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
+const HasModesIF& SubsystemBase::getModeIF() const {
+  return *this;
+}
+
+ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() {
+  return *this;
+}

src/fsfw/subsystem/SubsystemBase.h

@@ -1,13 +1,12 @@
 #ifndef FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
 #define FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
 
-#include <fsfw/subsystem/modes/ModeTreeConnectionIF.h>
-
 #include <map>
 
 #include "fsfw/container/HybridIterator.h"
 #include "fsfw/health/HasHealthIF.h"
 #include "fsfw/health/HealthHelper.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
@@ -48,6 +47,7 @@ class SubsystemBase : public SystemObject,
   virtual MessageQueueId_t getCommandQueue() const override;
 
   ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
 
   /**
    * Function to register the child objects.

src/fsfw_tests/integration/assemblies/TestAssembly.cpp

@@ -2,19 +2,19 @@
 
 #include <fsfw/objectmanager/ObjectManager.h>
 
-TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
+TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, ModeTreeChildIF& testDevice0,
-                           object_id_t testDevice1)
+    ModeTreeChildIF& testDevice1)
     : AssemblyBase(objectId, parentId),
-      deviceHandler0Id(testDevice0),
+      deviceHandler0(testDevice0),
-      deviceHandler1Id(testDevice1) {
+      deviceHandler1(testDevice1) {
   ModeListEntry newModeListEntry;
-  newModeListEntry.setObject(testDevice0);
+  newModeListEntry.setObject(testDevice0.getObjectId());
   newModeListEntry.setMode(MODE_OFF);
   newModeListEntry.setSubmode(SUBMODE_NONE);
 
   commandTable.insert(newModeListEntry);
 
-  newModeListEntry.setObject(testDevice1);
+  newModeListEntry.setObject(testDevice1.getObjectId());
   newModeListEntry.setMode(MODE_OFF);
   newModeListEntry.setSubmode(SUBMODE_NONE);
 
@@ -43,8 +43,8 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
       commandTable[1].setMode(MODE_OFF);
       commandTable[1].setSubmode(SUBMODE_NONE);
       // We try to prefer 0 here but we try to switch to 1 even if it might fail
-      if (isDeviceAvailable(deviceHandler0Id)) {
+      if (isDeviceAvailable(deviceHandler0.getObjectId())) {
-        if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
+        if (childrenMap[deviceHandler0.getObjectId()].mode == MODE_ON) {
           commandTable[0].setMode(mode);
           commandTable[0].setSubmode(SUBMODE_NONE);
         } else {
@@ -53,7 +53,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
           result = NEED_SECOND_STEP;
         }
       } else {
-        if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
+        if (childrenMap[deviceHandler1.getObjectId()].mode == MODE_ON) {
           commandTable[1].setMode(mode);
           commandTable[1].setSubmode(SUBMODE_NONE);
         } else {
@@ -64,7 +64,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
       }
     } else {
       // Dual Mode Normal
-      if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
+      if (childrenMap[deviceHandler0.getObjectId()].mode == MODE_ON) {
         commandTable[0].setMode(mode);
         commandTable[0].setSubmode(SUBMODE_NONE);
       } else {
@@ -72,7 +72,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
         commandTable[0].setSubmode(SUBMODE_NONE);
         result = NEED_SECOND_STEP;
       }
-      if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
+      if (childrenMap[deviceHandler1.getObjectId()].mode == MODE_ON) {
         commandTable[1].setMode(mode);
         commandTable[1].setSubmode(SUBMODE_NONE);
       } else {
@@ -89,7 +89,7 @@ ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
       commandTable[1].setMode(MODE_OFF);
       commandTable[1].setSubmode(SUBMODE_NONE);
       // We try to prefer 0 here but we try to switch to 1 even if it might fail
-      if (isDeviceAvailable(deviceHandler0Id)) {
+      if (isDeviceAvailable(deviceHandler0.getObjectId())) {
         commandTable[0].setMode(MODE_ON);
         commandTable[0].setSubmode(SUBMODE_NONE);
       } else {
@@ -133,24 +133,14 @@ ReturnValue_t TestAssembly::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-  handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0Id);
+  auto* handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0.getObjectId());
-  handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1Id);
+  auto* handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1.getObjectId());
   if ((handler0 == nullptr) or (handler1 == nullptr)) {
     return returnvalue::FAILED;
   }
 
-  handler0->setParentQueue(this->getCommandQueue());
+  handler0->connectModeTreeParent(*this);
-  handler1->setParentQueue(this->getCommandQueue());
+  handler1->connectModeTreeParent(*this);
-
-  // TODO: Fix this
-  //  result = registerChild(deviceHandler0Id);
-  //  if (result != returnvalue::OK) {
-  //    return result;
-  //  }
-  //  result = registerChild(deviceHandler1Id);
-  //  if (result != returnvalue::OK) {
-  //    return result;
-  //  }
   return result;
 }
 

src/fsfw_tests/integration/assemblies/TestAssembly.h

@@ -7,8 +7,8 @@
 
 class TestAssembly : public AssemblyBase {
  public:
-  TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
+  TestAssembly(object_id_t objectId, object_id_t parentId, ModeTreeChildIF& testDevice0,
-               object_id_t testDevice1);
+               ModeTreeChildIF& testDevice1);
   virtual ~TestAssembly();
   ReturnValue_t initialize() override;
 
@@ -41,10 +41,8 @@ class TestAssembly : public AssemblyBase {
 
  private:
   FixedArrayList<ModeListEntry, 2> commandTable;
-  object_id_t deviceHandler0Id = 0;
+  ModeTreeChildIF& deviceHandler0;
-  object_id_t deviceHandler1Id = 0;
+  ModeTreeChildIF& deviceHandler1;
-  TestDevice* handler0 = nullptr;
-  TestDevice* handler1 = nullptr;
 
   bool isDeviceAvailable(object_id_t object);
 };