add STR assy

bsp_q7s/core/ObjectFactory.cpp

@@ -9,6 +9,7 @@
 #include <mission/devices/MgmRm3100CustomHandler.h>
 #include <mission/system/objects/CamSwitcher.h>
 #include <mission/system/objects/ImtqAssembly.h>
+#include <mission/system/objects/StrAssembly.h>
 #include <mission/system/objects/SyrlinksAssembly.h>
 
 #include "OBSWConfig.h"
@@ -903,6 +904,8 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 }
 
 void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
+  auto* strAssy = new StrAssembly(objects::STAR_TRACKER);
+  strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   auto* starTrackerCookie =
       new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
                        startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
@@ -912,7 +915,7 @@ 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::ACS_SUBSYSTEM);
+  starTracker->connectModeTreeParent(*strAssy);
 }
 
 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {

bsp_q7s/core/scheduling.cpp

@@ -240,30 +240,26 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
-#if OBSW_ADD_MGT == 1
   result = acsSysTask->addComponent(objects::IMTQ_ASSY);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("IMTQ_ASSY", objects::IMTQ_ASSY);
   }
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
   result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
-#endif /* OBSW_ADD_ACS_HANDLERS */
-#if OBSW_ADD_RW == 1
   result = acsSysTask->addComponent(objects::RW_ASSY);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
   }
-#endif
-#if OBSW_ADD_SUS_BOARD_ASS == 1
   result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
-#endif
+  result = acsSysTask->addComponent(objects::STR_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
+  }
 
   PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
       "TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);

common/config/eive/objects.h

@@ -146,6 +146,7 @@ enum commonObjects : uint32_t {
   CAM_SWITCHER = 0x73000006,
   SYRLINKS_ASSY = 0x73000007,
   IMTQ_ASSY = 0x73000008,
+  STR_ASSY = 0x73000009,
   EIVE_SYSTEM = 0x73010000,
   ACS_SUBSYSTEM = 0x73010001,
   PL_SUBSYSTEM = 0x73010002,

mission/system/objects/CMakeLists.txt

@@ -13,6 +13,7 @@ target_sources(
           SusAssembly.cpp
           RwAssembly.cpp
           DualLanePowerStateMachine.cpp
+          StrAssembly.cpp
           PowerStateMachineBase.cpp
           DualLaneAssemblyBase.cpp
           TcsBoardAssembly.cpp)

mission/system/objects/StrAssembly.cpp

@@ -0,0 +1,30 @@
+#include "StrAssembly.h"
+
+#include <eive/objects.h>
+
+StrAssembly::StrAssembly(object_id_t objectId) {
+  ModeListEntry entry;
+  entry.setObject(objects::STAR_TRACKER);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  commandTable.insert(entry);
+}
+
+ReturnValue_t StrAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  commandTable[0].setMode(mode);
+  commandTable[0].setSubmode(submode);
+  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  executeTable(iter);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  if (childrenMap[objects::STAR_TRACKER].mode != wantedMode) {
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  return returnvalue::OK;
+}

mission/system/objects/StrAssembly.h

@@ -0,0 +1,18 @@
+#ifndef MISSION_SYSTEM_OBJECTS_STRASSEMBLY_H_
+#define MISSION_SYSTEM_OBJECTS_STRASSEMBLY_H_
+
+#include "fsfw/devicehandlers/AssemblyBase.h"
+
+class StrAssembly : public AssemblyBase {
+ public:
+  StrAssembly(object_id_t objectId);
+
+ private:
+  FixedArrayList<ModeListEntry, 1> commandTable;
+
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_STRASSEMBLY_H_ */