further clean up em and general code

CMakeLists.txt

@@ -101,6 +101,18 @@ set(OBSW_ADD_GPS_CTRL
 set(OBSW_ADD_TCS_CTRL
     ${INIT_VAL}
     CACHE STRING "Add TCS controllers")
+set(OBSW_ADD_HEATERS
+    ${INIT_VAL}
+    CACHE STRING "Add TCS heaters")
+set(OBSW_ADD_PLOC_SUPERVISOR
+    ${INIT_VAL}
+    CACHE STRING "Add PLOC supervisor handler")
+set(OBSW_ADD_SA_DEPL
+    ${INIT_VAL}
+    CACHE STRING "Add SA deployment handler")
+set(OBSW_ADD_PLOC_MPSOC
+    ${INIT_VAL}
+    CACHE STRING "Add MPSoC handler")
 set(OBSW_ADD_ACS_CTRL
     ${INIT_VAL}
     CACHE STRING "Add ACS controller")

bsp_q7s/OBSWConfig.h.in

@@ -24,8 +24,8 @@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
 #define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
-#define OBSW_ADD_PLOC_SUPERVISOR                    1
-#define OBSW_ADD_PLOC_MPSOC                         1
+#define OBSW_ADD_PLOC_SUPERVISOR                    @OBSW_ADD_PLOC_SUPERVISOR@
+#define OBSW_ADD_PLOC_MPSOC                         @OBSW_ADD_PLOC_MPSOC@
 #define OBSW_ADD_SUN_SENSORS                        @OBSW_ADD_SUN_SENSORS@
 #define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
 #define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
@@ -34,7 +34,9 @@
 #define OBSW_ADD_TCS_CTRL                           @OBSW_ADD_TCS_CTRL@
 #define OBSW_ADD_RW                                 @OBSW_ADD_RW@
 #define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
+#define OBSW_ADD_SA_DEPL						    @OBSW_ADD_SA_DEPL@
 #define OBSW_ADD_SCEX_DEVICE                        @OBSW_ADD_SCEX_DEVICE@
+#define OBSW_ADD_HEATERS							@OBSW_ADD_HEATERS@
 #define OBSW_ADD_TMP_DEVICES                        @OBSW_ADD_TMP_DEVICES@
 #define OBSW_ADD_RAD_SENSORS                        @OBSW_ADD_RAD_SENSORS@
 #define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -75,8 +75,10 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
   if (doTestProtHandler) {
     testProtHandler();
   }
+  if (DO_TEST_FS_HANDLER) {
     FsOpCodes opCode = FsOpCodes::CREATE_EMPTY_FILE_IN_TMP;
     testFileSystemHandlerDirect(opCode);
+  }
   return TestTask::performOneShotAction();
 }
 

bsp_q7s/boardtest/Q7STestTask.h

@@ -18,6 +18,7 @@ class Q7STestTask : public TestTask {
   bool doTestScratchApi = false;
   static constexpr bool DO_TEST_GOMSPACE_API = false;
   static constexpr bool DO_TEST_GOMSPACE_GET_CONFIG = false;
+  static constexpr bool DO_TEST_FS_HANDLER = false;
   bool doTestGpsShm = false;
   bool doTestGpsSocket = false;
   bool doTestProtHandler = false;

bsp_q7s/core/InitMission.cpp

@@ -73,6 +73,7 @@ void initmission::initTasks() {
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
+#if OBSW_ADD_SA_DEPL == 1
   // Could add this to the core controller but the core controller does so many thing that I would
   // prefer to have the solar array deployment in a seprate task.
   PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
@@ -81,6 +82,7 @@ void initmission::initTasks() {
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
   }
+#endif
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
@@ -234,10 +236,12 @@ void initmission::initTasks() {
     initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
   }
 #endif
+#if OBSW_ADD_HEATERS == 1
   result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
   }
+#endif
 
 #if OBSW_ADD_STAR_TRACKER == 1
   PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
@@ -313,7 +317,9 @@ void initmission::initTasks() {
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
   sysCtrlTask->startTask();
+#if OBSW_ADD_SA_DEPL == 1
   solarArrayDeplTask->startTask();
+#endif
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
@@ -340,7 +346,9 @@ void initmission::initTasks() {
   tcsPollingTask->startTask();
   tcsTask->startTask();
 #endif /* OBSW_ADD_RTD_DEVICES == 1 */
+  if (not tcsSystemTask->isEmpty()) {
     tcsSystemTask->startTask();
+  }
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */

bsp_q7s/em/emObjectFactory.cpp

@@ -35,6 +35,7 @@ void ObjectFactory::produce(void* args) {
 
   gpioCallbacks::disableAllDecoder(gpioComIF);
   PowerSwitchIF* pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(pwrSwitcher);
 
   // Regular FM code, does not work for EM if the hardware is not connected
   // createPcduComponents(gpioComIF, &pwrSwitcher);

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -460,20 +460,18 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
 ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
-  bool uartPstEmpty = true;
-
+  static_cast<void>(length);
 #if OBSW_ADD_PLOC_MPSOC == 1
-  uartPstEmpty = false;
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
-
   thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
+#endif
+
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -485,7 +483,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
 #endif
 
 #if OBSW_ADD_SYRLINKS == 1
-  uartPstEmpty = false;
   thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@@ -502,15 +499,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
-  static_cast<void>(length);
-  if (uartPstEmpty) {
-    return returnvalue::OK;
-  }
-  if (thisSequence->checkSequence() != returnvalue::OK) {
-    sif::error << "UART PST initialization failed" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
+  return thisSequence->checkSequence();
 }
 
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {

mission/devices/ImtqHandler.cpp

@@ -321,7 +321,8 @@ ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSi
       break;
     case (IMTQ::CC::PAST_AVAILABLE_RESPONSE_BYTES): {
       sif::warning << "IMTQHandler::scanForReply: Read 0xFF command byte, reading past available "
-                      "bytes. Keep 1 ms delay between I2C send and read" << std::endl;
+                      "bytes. Keep 1 ms delay between I2C send and read"
+                   << std::endl;
       result = IGNORE_REPLY_DATA;
       break;
     }