From 470b23600889eb34570eec05627e55e13a796077 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 30 Sep 2022 15:05:48 +0200
Subject: [PATCH] fixed some of the acs ss code

---
 bsp_q7s/core/ObjectFactory.cpp      | 3 +++
 fsfw                                | 2 +-
 linux/ObjectFactory.cpp             | 2 +-
 mission/system/tree/acsModeTree.cpp | 9 +++++++--
 4 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 86f4bd7b..412ce598 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -703,6 +703,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
                  << std::endl;
     }
   }
+  rwAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_RW == 1 */
 }
 
@@ -894,6 +895,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
       new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
                              strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
   starTracker->setPowerSwitcher(pwrSwitcher);
+  starTracker->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
 }
 
 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
@@ -902,6 +904,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
   auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
   imtqHandler->setPowerSwitcher(pwrSwitcher);
+  imtqHandler->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
   static_cast<void>(imtqHandler);
 #if OBSW_TEST_IMTQ == 1
   imtqHandler->setStartUpImmediately();
diff --git a/fsfw b/fsfw
index acab5f6b..1eceef46 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit acab5f6bceef581fae64d1c16af19482ec72abcb
+Subproject commit 1eceef4645b5a052dbdcd964e7840e7121c57909
diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp
index 5373e8ec..ea909a9e 100644
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@@ -166,7 +166,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
       objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
   SusAssHelper susAssHelper = SusAssHelper(susIds);
   auto susAss = new SusAssembly(objects::SUS_BOARD_ASS, pwrSwitcher, susAssHelper);
-  static_cast<void>(susAss);
   for (auto& sus : susHandlers) {
     if (sus != nullptr) {
       ReturnValue_t result = sus->connectModeTreeParent(*susAss);
@@ -183,6 +182,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #endif
     }
   }
+  susAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 }
 
diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp
index fe541d31..3dcd380f 100644
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@@ -1,3 +1,4 @@
+#include <fsfw/container/FixedMap.h>
 #include "acsModeTree.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
@@ -69,7 +70,7 @@ auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
 auto ACS_SEQUENCE_TARGET_PT =
     std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_TARGET_PT_TGT =
-    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_TARGET_PT_TRANS_0 =
     std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_TARGET_PT_TRANS_1 =
@@ -149,7 +150,7 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  check(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
+  check(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
 
   // Build SAFE transition 0
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
@@ -384,6 +385,10 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
 
 void checkInsert(ReturnValue_t result, const char* ctx) {
   if (result != returnvalue::OK) {
+    if(result == mapdefs::KEY_ALREADY_EXISTS) {
+      sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx << ", key already exists" <<
+          ctx << std::endl;
+    }
     sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx << std::endl;
   }
 }