connect acs ctrl to subsystem

bsp_q7s/core/ObjectFactory.cpp

@@ -340,8 +340,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   SpiCookie* spiCookie =
       new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
                     spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler0 = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
+  auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
-                                              spiCookie, spi::LIS3_TRANSITION_DELAY);
+      objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
   mgmLis3Handler0->setCustomFdir(fdir);
   assemblyChildren.push_back(*mgmLis3Handler0);
@@ -371,8 +371,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   spiCookie =
       new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
                     spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
+  auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
-                                         spiCookie, spi::LIS3_TRANSITION_DELAY);
+      objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
   mgmLis3Handler2->setCustomFdir(fdir);
   assemblyChildren.push_back(*mgmLis3Handler2);
@@ -386,8 +386,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   spiCookie =
       new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
                     spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  auto* mgmRm3100Handler3 = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
+  auto* mgmRm3100Handler3 =
-                                          spiCookie, spi::RM3100_TRANSITION_DELAY);
+      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                           spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
   mgmRm3100Handler3->setCustomFdir(fdir);
   assemblyChildren.push_back(*mgmRm3100Handler3);
@@ -447,8 +448,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   // Gyro 3 Side B
   spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler3 = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
+  auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
-                                          spiCookie, spi::L3G_TRANSITION_DELAY);
+      objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
   gyroL3gHandler3->setCustomFdir(fdir);
   assemblyChildren.push_back(*gyroL3gHandler3);
@@ -477,9 +478,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   static_cast<void>(acsAss);
   for (auto& assChild : assemblyChildren) {
     ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
-    if(result != returnvalue::OK) {
+    if (result != returnvalue::OK) {
-      sif::error << "Connecting assembly for ACS board component " <<
+      sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
-          assChild.get().getObjectId() << " failed" << std::endl;
+                 << " failed" << std::endl;
     }
   }
   gpsCtrl->connectModeTreeParent(*acsAss);
@@ -693,13 +694,13 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
   }
 
   RwHelper rwHelper(rwIds);
-  auto* rwAss = new RwAssembly(objects::RW_ASS, pwrSwitcher,
+  auto* rwAss =
-                               pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
+      new RwAssembly(objects::RW_ASS, pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
   for (uint8_t idx = 0; idx < rws.size(); idx++) {
     ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
-    if(result != returnvalue::OK) {
+    if (result != returnvalue::OK) {
       sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
-          << std::endl;
+                 << std::endl;
     }
   }
 #endif /* OBSW_ADD_RW == 1 */

bsp_q7s/fmObjectFactory.cpp

@@ -64,6 +64,6 @@ void ObjectFactory::produce(void* args) {
 
   createMiscComponents();
   createThermalController();
-  createAcsController();
+  createAcsController(true);
   satsystem::initAcsSubsystem(objects::NO_OBJECT);
 }

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) {
+      if (result != returnvalue::OK) {
-        sif::error << "Connecting SUS " << sus->getObjectId() <<
+        sif::error << "Connecting SUS " << sus->getObjectId() << " to SUS assembly failed"
-            " to SUS assembly failed" << std::endl;
+                   << 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() {
+AcsController* ObjectFactory::createAcsController(bool connectSubsystem) {
-  return new AcsController(objects::ACS_CONTROLLER);
+  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),
+    : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
-      gpsSet(this),
-      debugHyperionGps(debugHyperionGps) {
   timeUpdateCd.resetTimer();
 }
 

mission/system/objects/AcsBoardAssembly.cpp

@@ -274,6 +274,4 @@ void AcsBoardAssembly::refreshHelperModes() {
   }
 }
 
-ReturnValue_t AcsBoardAssembly::initialize() {
+ReturnValue_t AcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
-  return AssemblyBase::initialize();
-}

mission/system/objects/RwAssembly.cpp

@@ -1,7 +1,7 @@
 #include "RwAssembly.h"
 
-RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
-                       power::Switch_t switcher, RwHelper helper)
+                       RwHelper helper)
     : AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
@@ -167,9 +167,7 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
   return false;
 }
 
-ReturnValue_t RwAssembly::initialize() {
+ReturnValue_t RwAssembly::initialize() { return SubsystemBase::initialize(); }
-  return SubsystemBase::initialize();
-}
 
 void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
   if (targetMode == MODE_OFF) {

mission/system/objects/RwAssembly.h

@@ -12,8 +12,8 @@ struct RwHelper {
 
 class RwAssembly : public AssemblyBase {
  public:
-  RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
+  RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
-             power::Switch_t switcher, RwHelper helper);
+             RwHelper helper);
 
  private:
   static constexpr uint8_t NUMBER_RWS = 4;

mission/system/objects/SusAssembly.cpp

@@ -120,9 +120,7 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
   return returnvalue::OK;
 }
 
-ReturnValue_t SusAssembly::initialize() {
+ReturnValue_t SusAssembly::initialize() { return AssemblyBase::initialize(); }
-  return AssemblyBase::initialize();
-}
 
 bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
   if (healthHelper.healthTable->isFaulty(object)) {

mission/system/objects/TcsBoardAssembly.cpp

@@ -89,9 +89,7 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
   return HasModesIF::INVALID_MODE;
 }
 
-ReturnValue_t TcsBoardAssembly::initialize() {
+ReturnValue_t TcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
-  return AssemblyBase::initialize();
-}
 
 void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
   if (mode != MODE_OFF) {