Merge remote-tracking branch 'origin/develop' into dhb2normal

linux/ObjectFactory.cpp

@@ -1,6 +1,7 @@
 #include "ObjectFactory.h"
 
 #include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/subsystem/Subsystem.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/common/gpio/gpioDefinitions.h>
@@ -15,10 +16,11 @@
 #include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/ScexDeviceHandler.h>
 #include <mission/devices/SusHandler.h>
-#include <mission/system/SusAssembly.h>
-#include <mission/system/TcsBoardAssembly.h>
 #include <mission/system/fdir/RtdFdir.h>
 #include <mission/system/fdir/SusFdir.h>
+#include <mission/system/objects/SusAssembly.h>
+#include <mission/system/objects/TcsBoardAssembly.h>
+#include "mission/system/tree/acsModeTree.h"
 
 #include "OBSWConfig.h"
 #include "devConf.h"
@@ -26,6 +28,7 @@
 #include "devices/gpioIds.h"
 #include "eive/definitions.h"
 
+
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
                                               PowerSwitchIF* pwrSwitcher, std::string spiDev) {
   using namespace gpio;
@@ -79,7 +82,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[0] =
       new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
-  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[0]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
@@ -87,7 +89,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[1] =
       new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
-  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[1]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
@@ -95,7 +96,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[2] =
       new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
-  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[2]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
@@ -103,7 +103,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[3] =
       new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
-  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[3]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
@@ -111,7 +110,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[4] =
       new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
-  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[4]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
@@ -119,7 +117,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[5] =
       new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
-  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[5]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
@@ -127,7 +124,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[6] =
       new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
-  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[6]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
@@ -135,7 +131,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[7] =
       new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
-  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[7]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
@@ -143,7 +138,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[8] =
       new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
-  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[8]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
@@ -151,7 +145,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[9] =
       new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
-  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[9]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
@@ -159,7 +152,6 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[10] =
       new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
-  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[10]->setCustomFdir(fdir);
 
   spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
@@ -167,11 +159,24 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   susHandlers[11] =
       new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
-  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[11]->setCustomFdir(fdir);
 
+  std::array<object_id_t, 12> susIds = {
+      objects::SUS_0_N_LOC_XFYFZM_PT_XF,  objects::SUS_1_N_LOC_XBYFZM_PT_XB,
+      objects::SUS_2_N_LOC_XFYBZB_PT_YB,  objects::SUS_3_N_LOC_XFYBZF_PT_YF,
+      objects::SUS_4_N_LOC_XMYFZF_PT_ZF,  objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+      objects::SUS_6_R_LOC_XFYBZM_PT_XF,  objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+      objects::SUS_8_R_LOC_XBYBZB_PT_YB,  objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+      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);
   for (auto& sus : susHandlers) {
     if (sus != nullptr) {
+      ReturnValue_t result = sus->connectModeTreeParent(*susAss);
+      if (result != returnvalue::OK) {
+        sif::error << "Connecting SUS " << sus->getObjectId() << " to SUS assembly failed"
+                   << std::endl;
+      }
 #if OBSW_TEST_SUS == 1
       sus->setStartUpImmediately();
       sus->setToGoToNormalMode(true);
@@ -181,17 +186,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #endif
     }
   }
-  std::array<object_id_t, 12> susIds = {
-      objects::SUS_0_N_LOC_XFYFZM_PT_XF,  objects::SUS_1_N_LOC_XBYFZM_PT_XB,
-      objects::SUS_2_N_LOC_XFYBZB_PT_YB,  objects::SUS_3_N_LOC_XFYBZF_PT_YF,
-      objects::SUS_4_N_LOC_XMYFZF_PT_ZF,  objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
-      objects::SUS_6_R_LOC_XFYBZM_PT_XF,  objects::SUS_7_R_LOC_XBYBZM_PT_XB,
-      objects::SUS_8_R_LOC_XBYBZB_PT_YB,  objects::SUS_9_R_LOC_XBYBZB_PT_YF,
-      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, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
-  static_cast<void>(susAss);
+  susAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 }
 
@@ -293,6 +288,11 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   std::array<SpiCookie*, NUM_RTDS> rtdCookies = {};
   std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
   RtdFdir* rtdFdir = nullptr;
+
+  TcsBoardHelper helper(rtdInfos);
+  TcsBoardAssembly* tcsBoardAss = new TcsBoardAssembly(
+      objects::TCS_BOARD_ASS, pwrSwitcher, pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+  static_cast<void>(tcsBoardAss);
   // Create special low level reader communication interface
   new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
   for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
@@ -304,7 +304,11 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
     rtds[idx] =
         new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie);
     rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second);
-    rtds[idx]->setParent(objects::TCS_BOARD_ASS);
+    ReturnValue_t result = rtds[idx]->connectModeTreeParent(*tcsBoardAss);
+    if (result != returnvalue::OK) {
+      sif::error << "Connecting RTD " << static_cast<int>(idx) << " to RTD Assembly failed"
+                 << std::endl;
+    }
     rtdFdir = new RtdFdir(rtdInfos[idx].first);
     rtds[idx]->setCustomFdir(rtdFdir);
 #if OBSW_DEBUG_RTD == 1
@@ -316,11 +320,6 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
 #endif
   }
 
-  TcsBoardHelper helper(rtdInfos);
-  TcsBoardAssembly* tcsBoardAss =
-      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
-                           pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
-  static_cast<void>(tcsBoardAss);
 #endif  // OBSW_ADD_RTD_DEVICES == 1
 }
 
@@ -341,10 +340,16 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
 }
 
 void ObjectFactory::createThermalController() {
-  new ThermalController(objects::THERMAL_CONTROLLER, objects::NO_OBJECT);
+  new ThermalController(objects::THERMAL_CONTROLLER);
 }
 
-void ObjectFactory::createAcsController() { new AcsController(objects::ACS_CONTROLLER); }
+AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
+  auto acsCtrl = new AcsController(objects::ACS_CONTROLLER);
+  if (connectSubsystem) {
+    acsCtrl->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
+  }
+  return acsCtrl;
+}
 
 void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
   if (result != returnvalue::OK) {

linux/ObjectFactory.h

@@ -14,6 +14,7 @@
 class GpioIF;
 class SpiComIF;
 class PowerSwitchIF;
+class AcsController;
 
 namespace ObjectFactory {
 
@@ -29,7 +30,7 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
 void gpioChecker(ReturnValue_t result, std::string output);
 
 void createThermalController();
-void createAcsController();
+AcsController* createAcsController(bool connectSubsystem);
 
 void addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler, PusTmFunnel& pusFunnel,
                              CfdpTmFunnel& cfdpFunnel);

linux/devices/GPSHyperionLinuxController.cpp

@@ -18,9 +18,7 @@
 
 GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT),
-      gpsSet(this),
-      debugHyperionGps(debugHyperionGps) {
+    : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
   timeUpdateCd.resetTimer();
 }
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 233 translations.
  * @details
- * Generated on: 2022-10-27 09:03:07
+ * Generated on: 2022-10-27 09:17:50
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 140 translations.
- * Generated on: 2022-10-27 09:03:07
+ * Contains 142 translations.
+ * Generated on: 2022-10-27 09:17:50
  */
 #include "translateObjects.h"
 
@@ -144,6 +144,8 @@ const char *CFDP_DISTRIBUTOR_STRING = "CFDP_DISTRIBUTOR";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
+const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
+const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
@@ -425,6 +427,10 @@ const char *translateObject(object_id_t object) {
       return PUS_TM_FUNNEL_STRING;
     case 0x73000102:
       return CFDP_TM_FUNNEL_STRING;
+    case 0x73010000:
+      return EIVE_SYSTEM_STRING;
+    case 0x73010001:
+      return ACS_SUBSYSTEM_STRING;
     case 0x73500000:
       return CCSDS_IP_CORE_BRIDGE_STRING;
     case 0xFFFFFFFF: