src/fsfw/controller/ControllerBase.cpp

@@ -20,11 +20,15 @@ ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth
 ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
 
 ReturnValue_t ControllerBase::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
-  if (result != returnvalue::OK) {
+  ReturnValue_t result = modeHelper.initialize();
+  if(result != returnvalue::OK) {
     return result;
   }
-  return returnvalue::OK;
+  result = healthHelper.initialize();
+  if(result != returnvalue::OK) {
+    return result;
+  }
+  return SystemObject::initialize();
 }
 
 MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }

src/fsfw/subsystem/SubsystemBase.cpp

@@ -129,7 +129,17 @@ ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bo
 
 MessageQueueId_t SubsystemBase::getCommandQueue() const { return commandQueue->getId(); }
 
-ReturnValue_t SubsystemBase::initialize() { return SystemObject::initialize(); }
+ReturnValue_t SubsystemBase::initialize() {
+  ReturnValue_t result = modeHelper.initialize();
+  if(result != returnvalue::OK) {
+    return result;
+  }
+  result = healthHelper.initialize();
+  if(result != returnvalue::OK) {
+    return result;
+  }
+  return SystemObject::initialize();
+}
 
 ReturnValue_t SubsystemBase::performOperation(uint8_t opCode) {
   childrenChangedMode = false;
@@ -187,7 +197,7 @@ ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> tableIter)
       using namespace std;
       sif::warning << "SubsystemBase::checkTable: Could not find Object " << setfill('0') << hex
                    << "0x" << setw(8) << tableIter.value->getObject() << " in object " << setw(8)
-                   << "0x" << SystemObject::getObjectId() << dec << std::endl;
+                   << setw(0) << "0x" << setw(8) << SystemObject::getObjectId() << dec << std::endl;
 #endif
       return TABLE_CONTAINS_INVALID_OBJECT_ID;
     }

src/fsfw/subsystem/SubsystemBase.h

@@ -62,13 +62,13 @@ class SubsystemBase : public SystemObject,
    */
   ReturnValue_t registerChild(const ModeTreeChildIF &child) override;
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
 
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  ReturnValue_t setHealth(HealthState health) override;
 
-  virtual HasHealthIF::HealthState getHealth() override;
+  HasHealthIF::HealthState getHealth() override;
 
  protected:
   struct ChildInfo {