Merge remote-tracking branch 'origin/develop' into mueller/acs-ss-init

bsp_q7s/OBSWConfig.h.in

@@ -30,7 +30,9 @@
 #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@
-#define OBSW_ADD_ACS_HANDLERS                       @OBSW_ADD_ACS_HANDLERS@
+#define OBSW_ADD_ACS_CTRL                           @OBSW_ADD_ACS_CTRL@
+#define OBSW_ADD_GPS_CTRL                           @OBSW_ADD_GPS_CTRL@
+#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_TMP_DEVICES                        @OBSW_ADD_TMP_DEVICES@

bsp_q7s/core/InitMission.cpp

@@ -139,22 +139,24 @@ void initmission::initTasks() {
 
   PeriodicTaskIF* acsTask = factory->createPeriodicTask(
       "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-#if OBSW_ADD_ACS_HANDLERS == 1
+#if OBSW_ADD_GPS_CTRL == 1
   result = acsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
-#endif /* OBSW_ADD_ACS_HANDLERS */
+#endif /* OBSW_ADD_GPS_CTRL */
 
+#if OBSW_ADD_ACS_CTRL == 1
   acsTask->addComponent(objects::ACS_CONTROLLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
   }
+#endif
 
   PeriodicTaskIF* sysTask = factory->createPeriodicTask(
       "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   static_cast<void>(sysTask);
-#if OBSW_ADD_ACS_HANDLERS == 1
+#if OBSW_ADD_ACS_BOARD == 1
   result = sysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
@@ -205,8 +207,7 @@ void initmission::initTasks() {
       objects::RTD_14_IC17_TCS_BOARD,
       objects::RTD_15_IC18_IMTQ,
   };
-  tcsTask->addComponent(objects::TCS_BOARD_ASS);
-  tcsTask->addComponent(objects::THERMAL_CONTROLLER);
+
   for (const auto& rtd : rtdIds) {
     tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
     tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
@@ -214,8 +215,13 @@ void initmission::initTasks() {
     tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
     tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
   }
+  tcsTask->addComponent(objects::TCS_BOARD_ASS);
 #endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_TCS_CTRL == 1
+  tcsTask->addComponent(objects::THERMAL_CONTROLLER);
+#endif
+  
 #if OBSW_ADD_STAR_TRACKER == 1
   PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
       "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@@ -305,9 +311,7 @@ void initmission::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-#if OBSW_ADD_ACS_HANDLERS == 1
   acsTask->startTask();
-#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
   sysTask->startTask();
 #if OBSW_ADD_RTD_DEVICES == 1
   tcsPollingTask->startTask();

bsp_q7s/core/ObjectFactory.cpp

@@ -335,7 +335,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   AcsBoardFdir* fdir = nullptr;
   static_cast<void>(fdir);
 
-#if OBSW_ADD_ACS_HANDLERS == 1
+#if OBSW_ADD_ACS_BOARD == 1
   std::string spiDev = q7s::SPI_DEFAULT_DEV;
   SpiCookie* spiCookie =
       new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,

bsp_q7s/em/emObjectFactory.cpp

@@ -1,10 +1,12 @@
 #include <fsfw/health/HealthTableIF.h>
+#include <fsfw/power/DummyPowerSwitcher.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/core/ObjectFactory.h"
 #include "busConf.h"
 #include "devConf.h"
+#include "dummies/helpers.h"
 #include "eive/objects.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
@@ -20,31 +22,34 @@ void ObjectFactory::produce(void* args) {
   UartComIF* uartComIF = nullptr;
   SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
-  PowerSwitchIF* pwrSwitcher = nullptr;
   SpiComIF* spiRwComIF = nullptr;
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
-  createTmpComponents();
+
+  // Hardware is usually not connected to EM, so we need to create dummies which replace lower
+  // level components.
+  dummy::DummyCfg dummyCfg;
+  dummyCfg.addCoreCtrlCfg = false;
+  dummy::createDummies(dummyCfg);
+
   new CoreController(objects::CORE_CONTROLLER);
 
   gpioCallbacks::disableAllDecoder(gpioComIF);
-  createPcduComponents(gpioComIF, &pwrSwitcher);
+  PowerSwitchIF* pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+
+  // Regular FM code, does not work for EM if the hardware is not connected
+  // createPcduComponents(gpioComIF, &pwrSwitcher);
+  // createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+  // createSyrlinksComponents(pwrSwitcher);
+  // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+  // createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  // createTmpComponents();
   createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
   createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
-#if OBSW_ADD_SYRLINKS == 1
-#if OBSW_Q7S_EM == 1
-  createSyrlinksComponents(nullptr);
-#else
-  createSyrlinksComponents(pwrSwitcher);
-#endif /* OBSW_Q7S_EM == 1 */
-#endif /* OBSW_ADD_SYRLINKS == 1 */
-  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
   createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1
@@ -68,4 +73,5 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   createMiscComponents();
+  createAcsController();
 }