connect parent

bsp_q7s/core/ObjectFactory.cpp

@@ -518,9 +518,10 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
       new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
-  new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
-  new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
-  ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
+  auto* healthDevGps0 = new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
+  auto* healthDevGps1 = new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
+  ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, *healthDevGps0, *healthDevGps1,
+                                    gpsCtrl, gpioComIF);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 

dummies/helperFactory.cpp

@@ -99,10 +99,11 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     assemblyDhbs[7] =
         new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
-    new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
+    auto* gps0HealthDev = new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
+    auto* gps1HealthDev = new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
     auto* gpsCtrl = new GpsCtrlDummy(objects::GPS_CONTROLLER);
-    ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF);
+    ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, *gps0HealthDev, *gps1HealthDev,
+                                      gpsCtrl, gpioIF);
   }
 
   if (cfg.addSusDummies) {

fsfw

@@ -1 +1 @@
-Subproject commit e2e87b149d91c51196c76d6b84243fce1c77a28a
+Subproject commit 1e3c89b672e17700a9b50a312d9df29c54977685

mission/genericFactory.cpp

@@ -343,6 +343,7 @@ void ObjectFactory::createSusAssy(PowerSwitchIF& pwrSwitcher,
 
 void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
                                        std::array<DeviceHandlerBase*, 8> assemblyDhbs,
+                                       HealthDevice& gps0HealthDev, HealthDevice& gps1HealthDev,
                                        ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF) {
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
@@ -359,6 +360,8 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
     }
   }
   gpsCtrl->connectModeTreeParent(*acsAss);
+  gps0HealthDev.setParentQueue(acsAss->getCommandQueue());
+  gps1HealthDev.setParentQueue(acsAss->getCommandQueue());
   acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }
 

mission/genericFactory.h

@@ -2,6 +2,7 @@
 #define MISSION_CORE_GENERICFACTORY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/devicehandlers/HealthDevice.h>
 #include <mission/memory/SdCardMountedIF.h>
 #include <mission/persistentTmStoreDefs.h>
 #include <mission/tcs/Max31865Definitions.h>
@@ -53,6 +54,7 @@ void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
                   std::array<DeviceHandlerBase*, 4> rws, std::array<object_id_t, 4> rwIds);
 void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);
 void createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 8> assemblyDhbs,
+                        HealthDevice& gps0HealthDev, HealthDevice& gps1HealthDev,
                         ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF);
 TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher);
 

mission/system/acs/AcsBoardAssembly.cpp

@@ -78,7 +78,7 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
         (helper.gpsMode != MODE_ON) or
-        (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY)) {
+        gps0HealthDevFaulty()) {
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return returnvalue::OK;
@@ -86,7 +86,7 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
     if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
         (helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
         (helper.gpsMode != MODE_ON) or
-        (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY)) {
+        gps1HealthDevFaulty()) {
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return returnvalue::OK;
@@ -296,15 +296,13 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   // Special handling to account for GPS devices being faulty. If the GPS device on the other
   // side is marked faulty, directly to to dual side.
   if (submode == Submodes::A_SIDE) {
-    if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY or
-        healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY) {
+    if (gps0HealthDevFaulty()) {
       triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
       startTransition(mode, Submodes::DUAL_MODE);
       return;
     }
   } else if (submode == Submodes::B_SIDE) {
-    if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY or
-        healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY) {
+    if (gps1HealthDevFaulty()) {
       triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0);
       startTransition(mode, Submodes::DUAL_MODE);
       return;
@@ -312,3 +310,19 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   }
   DualLaneAssemblyBase::handleChildrenLostMode(result);
 }
+
+bool AcsBoardAssembly::gps0HealthDevFaulty() const {
+  auto health = healthHelper.healthTable->getHealth(helper.healthDevGps0);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    return true;
+  }
+  return false;
+}
+
+bool AcsBoardAssembly::gps1HealthDevFaulty() const {
+  auto health = healthHelper.healthTable->getHealth(helper.healthDevGps1);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    return true;
+  }
+  return false;
+}

mission/system/acs/AcsBoardAssembly.h

@@ -133,6 +133,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
   void refreshHelperModes();
+  bool gps0HealthDevFaulty() const;
+  bool gps1HealthDevFaulty() const;
 };
 
 #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */

tmtc

@@ -1 +1 @@
-Subproject commit b72dad49a9c05a37c094a22d5fdaa15643b5ca7f
+Subproject commit f899d169b2a6f7454b2f425dfa2713acf029e016