need to fix all of these TODOs

bsp_q7s/core/CoreController.cpp

@@ -31,10 +31,7 @@ xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
 CoreController::CoreController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
+    : ExtendedControllerBase(objectId, 5), opDivider5(5), opDivider10(10), hkSet(this) {
-      opDivider5(5),
-      opDivider10(10),
-      hkSet(this) {
   ReturnValue_t result = returnvalue::OK;
   try {
     result = initWatchdogFifo();

bsp_q7s/core/ObjectFactory.cpp

@@ -1,6 +1,7 @@
-#include <mission/system/objects/AcsSubsystem.h>
 #include "ObjectFactory.h"
 
+#include <mission/system/objects/AcsSubsystem.h>
+
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
@@ -35,7 +36,6 @@
 #include "linux/obc/PdecHandler.h"
 #include "linux/obc/Ptme.h"
 #include "linux/obc/PtmeConfig.h"
-
 #include "mission/csp/CspCookie.h"
 #include "mission/system/fdir/AcsBoardFdir.h"
 #include "mission/system/fdir/GomspacePowerFdir.h"
@@ -46,7 +46,6 @@
 #include "mission/system/objects/SusAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
-
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
@@ -234,7 +233,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
 }
 
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
-                                             PowerSwitchIF* pwrSwitcher, object_id_t acsSubsystemId) {
+                                             PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieAcsBoard = new GpioCookie();
   std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;
@@ -475,11 +474,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
       objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
       objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
-  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, acsSubsystemId, pwrSwitcher,
+  auto acsAss =
-                                     acsBoardHelper, gpioComIF);
+      new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
+  acsAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
   static_cast<void>(acsAss);
   auto assQueueId = acsAss->getCommandQueue();
-  for (auto& assChild: assemblyChildren) {
+  for (auto& assChild : assemblyChildren) {
     assChild.get().setParentQueue(assQueueId);
   }
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */

bsp_q7s/core/ObjectFactory.h

@@ -28,7 +28,7 @@ void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
-                              PowerSwitchIF* pwrSwitcher, object_id_t acsSubsystemId);
+                              PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher, object_id_t subsystemId);
 void createBpxBatteryComponent();

bsp_q7s/fmObjectFactory.cpp

@@ -31,7 +31,7 @@ void ObjectFactory::produce(void* args) {
   createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher, objects::ACS_SUBSYSTEM);
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
   createSolarArrayDeploymentComponents();

fsfw

@@ -1 +1 @@
-Subproject commit f78344b8fba94158f3703ee1caa070bf97a04d0a
+Subproject commit f824004897e29bf90c2b02578625ba3d51786fdf

linux/ObjectFactory.cpp

@@ -163,8 +163,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
       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 =
+  auto susAss = new SusAssembly(objects::SUS_BOARD_ASS, pwrSwitcher, susAssHelper);
-      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
   static_cast<void>(susAss);
   for (auto& sus : susHandlers) {
     if (sus != nullptr) {
@@ -281,9 +280,8 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   RtdFdir* rtdFdir = nullptr;
 
   TcsBoardHelper helper(rtdInfos);
-  TcsBoardAssembly* tcsBoardAss =
+  TcsBoardAssembly* tcsBoardAss = new TcsBoardAssembly(
-      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
+      objects::TCS_BOARD_ASS, pwrSwitcher, pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
-                           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);
@@ -312,10 +310,12 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
 }
 
 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() {
+  return new AcsController(objects::ACS_CONTROLLER);
+}
 
 void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
   if (result != returnvalue::OK) {

linux/ObjectFactory.h

@@ -8,6 +8,7 @@
 class GpioIF;
 class SpiComIF;
 class PowerSwitchIF;
+class AcsController;
 
 namespace ObjectFactory {
 
@@ -19,6 +20,6 @@ void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* p
 void gpioChecker(ReturnValue_t result, std::string output);
 
 void createThermalController();
-void createAcsController();
+AcsController* createAcsController();
 
 }  // namespace ObjectFactory

mission/controller/AcsController.cpp

@@ -3,7 +3,7 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 
 AcsController::AcsController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT), mgmData(this) {}
+    : ExtendedControllerBase(objectId), mgmData(this) {}
 
 ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
   return returnvalue::OK;

mission/controller/ThermalController.cpp

@@ -14,8 +14,8 @@
 #include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
 #include <objects/systemObjectList.h>
 
-ThermalController::ThermalController(object_id_t objectId, object_id_t parentId)
+ThermalController::ThermalController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, parentId),
+    : ExtendedControllerBase(objectId),
       sensorTemperatures(this),
       susTemperatures(this),
       deviceTemperatures(this),

mission/controller/ThermalController.h

@@ -12,7 +12,7 @@ class ThermalController : public ExtendedControllerBase {
  public:
   static const uint16_t INVALID_TEMPERATURE = 999;
 
-  ThermalController(object_id_t objectId, object_id_t parentId);
+  ThermalController(object_id_t objectId);
 
   ReturnValue_t initialize() override;
 

mission/system/objects/AcsBoardAssembly.cpp

@@ -6,11 +6,10 @@
 
 #include "OBSWConfig.h"
 
-AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
+AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* switcher,
-                                   PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
+                                   AcsBoardHelper helper, GpioIF* gpioIF)
-    : DualLaneAssemblyBase(objectId, parentId, switcher, SWITCH_A, SWITCH_B,
+    : DualLaneAssemblyBase(objectId, switcher, SWITCH_A, SWITCH_B, POWER_STATE_MACHINE_TIMEOUT,
-                           POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED,
+                           SIDE_SWITCH_TRANSITION_NOT_ALLOWED, TRANSITION_OTHER_SIDE_FAILED),
-                           TRANSITION_OTHER_SIDE_FAILED),
       helper(helper),
       gpioIF(gpioIF) {
   if (switcher == nullptr) {
@@ -276,41 +275,42 @@ void AcsBoardAssembly::refreshHelperModes() {
 }
 
 ReturnValue_t AcsBoardAssembly::initialize() {
-  ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
+  // TODO: Fix this
-  if (result != returnvalue::OK) {
+  //  ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
-    return result;
+  //  if (result != returnvalue::OK) {
-  }
+  //    return result;
-  result = registerChild(helper.gyro1L3gIdSideA);
+  //  }
-  if (result != returnvalue::OK) {
+  //  result = registerChild(helper.gyro1L3gIdSideA);
-    return result;
+  //  if (result != returnvalue::OK) {
-  }
+  //    return result;
-  result = registerChild(helper.gyro2AdisIdSideB);
+  //  }
-  if (result != returnvalue::OK) {
+  //  result = registerChild(helper.gyro2AdisIdSideB);
-    return result;
+  //  if (result != returnvalue::OK) {
-  }
+  //    return result;
-  result = registerChild(helper.gyro3L3gIdSideB);
+  //  }
-  if (result != returnvalue::OK) {
+  //  result = registerChild(helper.gyro3L3gIdSideB);
-    return result;
+  //  if (result != returnvalue::OK) {
-  }
+  //    return result;
-  result = registerChild(helper.mgm0Lis3IdSideA);
+  //  }
-  if (result != returnvalue::OK) {
+  //  result = registerChild(helper.mgm0Lis3IdSideA);
-    return result;
+  //  if (result != returnvalue::OK) {
-  }
+  //    return result;
-  result = registerChild(helper.mgm1Rm3100IdSideA);
+  //  }
-  if (result != returnvalue::OK) {
+  //  result = registerChild(helper.mgm1Rm3100IdSideA);
-    return result;
+  //  if (result != returnvalue::OK) {
-  }
+  //    return result;
-  result = registerChild(helper.mgm2Lis3IdSideB);
+  //  }
-  if (result != returnvalue::OK) {
+  //  result = registerChild(helper.mgm2Lis3IdSideB);
-    return result;
+  //  if (result != returnvalue::OK) {
-  }
+  //    return result;
-  result = registerChild(helper.mgm3Rm3100IdSideB);
+  //  }
-  if (result != returnvalue::OK) {
+  //  result = registerChild(helper.mgm3Rm3100IdSideB);
-    return result;
+  //  if (result != returnvalue::OK) {
-  }
+  //    return result;
-  result = registerChild(helper.gpsId);
+  //  }
-  if (result != returnvalue::OK) {
+  //  result = registerChild(helper.gpsId);
-    return result;
+  //  if (result != returnvalue::OK) {
-  }
+  //    return result;
+  //  }
   return AssemblyBase::initialize();
 }

mission/system/objects/AcsBoardAssembly.h

@@ -94,8 +94,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
 
   static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
 
-  AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+  AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, AcsBoardHelper helper,
-                   AcsBoardHelper helper, GpioIF* gpioIF);
+                   GpioIF* gpioIF);
 
   /**
    * In dual mode, the A side or the B side GPS device can be used, but not both.

mission/system/objects/AcsSubsystem.cpp

@@ -1,5 +1,5 @@
 #include "AcsSubsystem.h"
 
-AcsSubsystem::AcsSubsystem(object_id_t setObjectId, object_id_t parent,
+AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
-                           uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
+                           uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

mission/system/objects/AcsSubsystem.h

@@ -5,8 +5,7 @@
 
 class AcsSubsystem : public Subsystem {
  public:
-  AcsSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+  AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
-               uint32_t maxNumberOfTables);
 
  private:
 };

mission/system/objects/CMakeLists.txt

@@ -1,14 +1,13 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
+target_sources(
-    EiveSystem.cpp
+  ${LIB_EIVE_MISSION}
-    AcsSubsystem.cpp
+  PRIVATE EiveSystem.cpp
-    ComSubsystem.cpp
+          AcsSubsystem.cpp
-    PayloadSubsystem.cpp
+          ComSubsystem.cpp
-
+          PayloadSubsystem.cpp
-    AcsBoardAssembly.cpp
+          AcsBoardAssembly.cpp
-    SusAssembly.cpp
+          SusAssembly.cpp
-    RwAssembly.cpp
+          RwAssembly.cpp
-    DualLanePowerStateMachine.cpp
+          DualLanePowerStateMachine.cpp
-    PowerStateMachineBase.cpp
+          PowerStateMachineBase.cpp
-    DualLaneAssemblyBase.cpp
+          DualLaneAssemblyBase.cpp
-    TcsBoardAssembly.cpp
+          TcsBoardAssembly.cpp)
-)

mission/system/objects/ComSubsystem.cpp

@@ -1,5 +1,5 @@
 #include "ComSubsystem.h"
 
-ComSubsystem::ComSubsystem(object_id_t setObjectId, object_id_t parent,
+ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
-                           uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
+                           uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

mission/system/objects/ComSubsystem.h

@@ -5,8 +5,7 @@
 
 class ComSubsystem : public Subsystem {
  public:
-  ComSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+  ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
-               uint32_t maxNumberOfTables);
 
  private:
 };

mission/system/objects/DualLaneAssemblyBase.cpp

@@ -4,12 +4,11 @@
 
 #include "OBSWConfig.h"
 
-DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId,
+DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
-                                           PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
+                                           pcdu::Switches switch1, pcdu::Switches switch2,
-                                           pcdu::Switches switch2, Event pwrTimeoutEvent,
+                                           Event pwrTimeoutEvent, Event sideSwitchNotAllowedEvent,
-                                           Event sideSwitchNotAllowedEvent,
                                            Event transitionOtherSideFailedEvent)
-    : AssemblyBase(objectId, parentId, 20),
+    : AssemblyBase(objectId, 20),
       pwrStateMachine(switch1, switch2, pwrSwitcher),
       pwrTimeoutEvent(pwrTimeoutEvent),
       sideSwitchNotAllowedEvent(sideSwitchNotAllowedEvent),

mission/system/objects/DualLaneAssemblyBase.h

@@ -18,8 +18,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
   static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;
 
-  DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+  DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
-                       pcdu::Switches switch1, pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
+                       pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
                        Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
 
  protected:

mission/system/objects/EiveSystem.cpp

@@ -1,5 +1,5 @@
 #include "EiveSystem.h"
 
-EiveSystem::EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                        uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

mission/system/objects/EiveSystem.h

@@ -5,8 +5,7 @@
 
 class EiveSystem : public Subsystem {
  public:
-  EiveSystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+  EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
-             uint32_t maxNumberOfTables);
 
  private:
 };

mission/system/objects/PayloadSubsystem.cpp

@@ -1,5 +1,5 @@
 #include "PayloadSubsystem.h"
 
-PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, object_id_t parent,
+PayloadSubsystem::PayloadSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
-                                   uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables)
+                                   uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, parent, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}

mission/system/objects/PayloadSubsystem.h

@@ -5,7 +5,7 @@
 
 class PayloadSubsystem : public Subsystem {
  public:
-  PayloadSubsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences,
+  PayloadSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                    uint32_t maxNumberOfTables);
 
  private:

mission/system/objects/RwAssembly.cpp

@@ -169,12 +169,13 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
 
 ReturnValue_t RwAssembly::initialize() {
   ReturnValue_t result = returnvalue::OK;
-  for (const auto& obj : helper.rwIds) {
+  // TODO: Fix this
-    result = registerChild(obj);
+  //  for (const auto& obj : helper.rwIds) {
-    if (result != returnvalue::OK) {
+  //    result = registerChild(obj);
-      return result;
+  //    if (result != returnvalue::OK) {
-    }
+  //      return result;
-  }
+  //    }
+  //  }
   return SubsystemBase::initialize();
 }
 

mission/system/objects/SusAssembly.cpp

@@ -4,9 +4,8 @@
 #include <fsfw/power/PowerSwitchIF.h>
 #include <fsfw/serviceinterface.h>
 
-SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+SusAssembly::SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAssHelper helper)
-                         SusAssHelper helper)
+    : DualLaneAssemblyBase(objectId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
-    : DualLaneAssemblyBase(objectId, parentId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
                            POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED,
                            TRANSITION_OTHER_SIDE_FAILED),
       helper(helper),
@@ -123,12 +122,13 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
 
 ReturnValue_t SusAssembly::initialize() {
   ReturnValue_t result = returnvalue::OK;
-  for (const auto& id : helper.susIds) {
+  // TODO: Fix this
-    result = registerChild(id);
+  //  for (const auto& id : helper.susIds) {
-    if (result != returnvalue::OK) {
+  //    result = registerChild(id);
-      return result;
+  //    if (result != returnvalue::OK) {
-    }
+  //      return result;
-  }
+  //    }
+  //  }
   return AssemblyBase::initialize();
 }
 

mission/system/objects/SusAssembly.h

@@ -40,8 +40,7 @@ class SusAssembly : public DualLaneAssemblyBase {
   static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
       event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
 
-  SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+  SusAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, SusAssHelper helper);
-              SusAssHelper helper);
 
  private:
   enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;

mission/system/objects/TcsBoardAssembly.cpp

@@ -3,10 +3,9 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/ipc/QueueFactory.h>
 
-TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, object_id_t parentId,
+TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
-                                   PowerSwitchIF* pwrSwitcher, power::Switch_t theSwitch,
+                                   power::Switch_t theSwitch, TcsBoardHelper helper)
-                                   TcsBoardHelper helper)
+    : AssemblyBase(objectId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
-    : AssemblyBase(objectId, parentId, 24), switcher(pwrSwitcher, theSwitch), helper(helper) {
   eventQueue = QueueFactory::instance()->createMessageQueue(24);
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
@@ -92,12 +91,13 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
 
 ReturnValue_t TcsBoardAssembly::initialize() {
   ReturnValue_t result = returnvalue::OK;
-  for (const auto& obj : helper.rtdInfos) {
+  // TODO: Fix this
-    result = registerChild(obj.first);
+  //  for (const auto& obj : helper.rtdInfos) {
-    if (result != returnvalue::OK) {
+  //    result = registerChild(obj.first);
-      return result;
+  //    if (result != returnvalue::OK) {
-    }
+  //      return result;
-  }
+  //    }
+  //  }
   return SubsystemBase::initialize();
 }
 

mission/system/objects/TcsBoardAssembly.h

@@ -20,8 +20,8 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
   static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
 
-  TcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+  TcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
-                   power::Switch_t switcher, TcsBoardHelper helper);
+                   TcsBoardHelper helper);
 
   ReturnValue_t initialize() override;
 

mission/system/tree/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE
+target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp)
-    acsModeTree.cpp
-)

mission/system/tree/acsModeTree.cpp

@@ -1,13 +1,15 @@
 #include "acsModeTree.h"
-#include "eive/objects.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/modes/HasModesIF.h>
 #include <fsfw/subsystem/Subsystem.h>
 #include <fsfw/subsystem/modes/ModeDefinitions.h>
 
+#include "eive/objects.h"
 #include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
 
+Subsystem satsystem::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
+
 void checkInsert(ReturnValue_t result, const char* ctx);
 void buildOffSequence(Subsystem* ss, ModeListEntry& eh);
 void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
@@ -75,21 +77,13 @@ auto ACS_TABLE_TARGET_PT_TRANS_1 =
 
 void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
   ModeListEntry entry;
-  Subsystem* acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, satSystemObjId, 12, 24);
+  buildOffSequence(&ACS_SUBSYSTEM, entry);
-  acsSubsystem->registerChild(objects::ACS_CONTROLLER);
+  buildSafeSequence(&ACS_SUBSYSTEM, entry);
-  acsSubsystem->registerChild(objects::IMTQ_HANDLER);
+  buildDetumbleSequence(&ACS_SUBSYSTEM, entry);
-  acsSubsystem->registerChild(objects::STAR_TRACKER);
+  buildIdleSequence(&ACS_SUBSYSTEM, entry);
-  acsSubsystem->registerChild(objects::ACS_BOARD_ASS);
+  buildIdleChargeSequence(&ACS_SUBSYSTEM, entry);
-  acsSubsystem->registerChild(objects::SUS_BOARD_ASS);
+  buildTargetPtSequence(&ACS_SUBSYSTEM, entry);
-  acsSubsystem->registerChild(objects::IMTQ_HANDLER);
+  ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
-  acsSubsystem->registerChild(objects::RW_ASS);
-  buildOffSequence(acsSubsystem, entry);
-  buildSafeSequence(acsSubsystem, entry);
-  buildDetumbleSequence(acsSubsystem, entry);
-  buildIdleSequence(acsSubsystem, entry);
-  buildIdleChargeSequence(acsSubsystem, entry);
-  buildTargetPtSequence(acsSubsystem, entry);
-  acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
 }
 
 void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {

mission/system/tree/acsModeTree.h

@@ -4,6 +4,8 @@ class Subsystem;
 
 namespace satsystem {
 
+extern Subsystem ACS_SUBSYSTEM;
+
 void initAcsSubsystem(object_id_t satSystemObjId);
 
 }  // namespace satsystem