connect acs ctrl to subsystem

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>
@@ -22,6 +23,7 @@
 #include "devConf.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
+#include "mission/system/tree/acsModeTree.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
                                               PowerSwitchIF* pwrSwitcher, std::string spiDev) {
@@ -168,9 +170,9 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   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 (result != returnvalue::OK) {
+        sif::error << "Connecting SUS " << sus->getObjectId() << " to SUS assembly failed"
+                   << std::endl;
       }
 #if OBSW_TEST_SUS == 1
       sus->setStartUpImmediately();
@@ -299,9 +301,9 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
         new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie);
     rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second);
     ReturnValue_t result = rtds[idx]->connectModeTreeParent(*tcsBoardAss);
-    if(result != returnvalue::OK) {
+    if (result != returnvalue::OK) {
       sif::error << "Connecting RTD " << static_cast<int>(idx) << " to RTD Assembly failed"
-          << std::endl;
+                 << std::endl;
     }
     rtdFdir = new RtdFdir(rtdInfos[idx].first);
     rtds[idx]->setCustomFdir(rtdFdir);
@@ -321,8 +323,12 @@ void ObjectFactory::createThermalController() {
   new ThermalController(objects::THERMAL_CONTROLLER);
 }
 
-AcsController* ObjectFactory::createAcsController() {
-  return 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) {

linux/ObjectFactory.h

@@ -20,6 +20,6 @@ void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* p
 void gpioChecker(ReturnValue_t result, std::string output);
 
 void createThermalController();
-AcsController* createAcsController();
+AcsController* createAcsController(bool connectSubsystem);
 
 }  // namespace ObjectFactory

linux/devices/GPSHyperionLinuxController.cpp

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