something is wrong now

bsp_q7s/core/ObjectFactory.cpp

@@ -518,10 +518,7 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
       new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
-  auto* healthDevGps0 = new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
+  ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
-  auto* healthDevGps1 = new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
-  ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, *healthDevGps0, *healthDevGps1,
-                                    gpsCtrl, gpioComIF);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 

dummies/helperFactory.cpp

@@ -99,11 +99,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
         new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     assemblyDhbs[7] =
         new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-    auto* gps0HealthDev = new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS);
-    auto* gps1HealthDev = new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS);
     auto* gpsCtrl = new GpsCtrlDummy(objects::GPS_CONTROLLER);
-    ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, *gps0HealthDev, *gps1HealthDev,
+    ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF);
-                                      gpsCtrl, gpioIF);
   }
 
   if (cfg.addSusDummies) {

fsfw

@@ -1 +1 @@
-Subproject commit 1e3c89b672e17700a9b50a312d9df29c54977685
+Subproject commit 7a392dc33a7e406986fa3684e114a41b0e91de9a

mission/genericFactory.cpp

@@ -343,7 +343,6 @@ void ObjectFactory::createSusAssy(PowerSwitchIF& pwrSwitcher,
 
 void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
                                        std::array<DeviceHandlerBase*, 8> assemblyDhbs,
-                                       HealthDevice& gps0HealthDev, HealthDevice& gps1HealthDev,
                                        ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF) {
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
@@ -360,8 +359,10 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher,
     }
   }
   gpsCtrl->connectModeTreeParent(*acsAss);
-  gps0HealthDev.setParentQueue(acsAss->getCommandQueue());
+  auto* gps0HealthDev = new HealthDevice(objects::GPS_0_HEALTH_DEV, acsAss->getCommandQueue());
-  gps1HealthDev.setParentQueue(acsAss->getCommandQueue());
+  auto* gps1HealthDev = new HealthDevice(objects::GPS_1_HEALTH_DEV, acsAss->getCommandQueue());
+  acsAss->registerChild(objects::GPS_0_HEALTH_DEV, gps0HealthDev->getCommandQueue());
+  acsAss->registerChild(objects::GPS_1_HEALTH_DEV, gps1HealthDev->getCommandQueue());
   acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 }
 

mission/genericFactory.h

@@ -54,7 +54,6 @@ void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch,
                   std::array<DeviceHandlerBase*, 4> rws, std::array<object_id_t, 4> rwIds);
 void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 12> suses);
 void createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array<DeviceHandlerBase*, 8> assemblyDhbs,
-                        HealthDevice& gps0HealthDev, HealthDevice& gps1HealthDev,
                         ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF);
 TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher);
 

mission/system/acs/AcsBoardAssembly.cpp

@@ -77,16 +77,14 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
   if (wantedSubmode == A_SIDE) {
     if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
         (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
-        (helper.gpsMode != MODE_ON) or
+        (helper.gpsMode != MODE_ON) or gps0HealthDevFaulty()) {
-        gps0HealthDevFaulty()) {
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return returnvalue::OK;
   } else if (wantedSubmode == B_SIDE) {
     if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
         (helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
-        (helper.gpsMode != MODE_ON) or
+        (helper.gpsMode != MODE_ON) or gps1HealthDevFaulty()) {
-        gps1HealthDevFaulty()) {
       return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
     }
     return returnvalue::OK;
@@ -121,7 +119,8 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       modeTable[tableIdx].setSubmode(SUBMODE_NONE);
     }
   };
-  bool gpsUsable = isModeCommandable(helper.gpsId, helper.gpsMode);
+
+  bool gpsUsable = isGpsUsable(submode);
   auto gpsCmd = [&](bool gnss0NReset, bool gnss1NReset, uint8_t gnssSelect) {
     if (gpsUsable) {
       if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
@@ -326,3 +325,22 @@ bool AcsBoardAssembly::gps1HealthDevFaulty() const {
   }
   return false;
 }
+
+bool AcsBoardAssembly::isGpsUsable(uint8_t targetSubmode) const {
+  if (targetSubmode == duallane::A_SIDE and
+      healthHelper.healthTable->isFaulty(helper.healthDevGps0)) {
+    // Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
+    return false;
+  }
+  if (targetSubmode == duallane::B_SIDE and
+      healthHelper.healthTable->isFaulty(helper.healthDevGps1)) {
+    // Causes a OFF command to be sent, which triggers a side switch or a switch to dual side.
+    return false;
+  }
+  auto gpsIter = childrenMap.find(helper.gpsId);
+  // Check if device is already in target mode
+  if (gpsIter != childrenMap.end() and gpsIter->second.mode == mode) {
+    return true;
+  }
+  return false;
+}

mission/system/acs/AcsBoardAssembly.h

@@ -135,6 +135,7 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   void refreshHelperModes();
   bool gps0HealthDevFaulty() const;
   bool gps1HealthDevFaulty() const;
+  bool isGpsUsable(uint8_t targetSubmode) const;
 };
 
 #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */

tmtc

@@ -1 +1 @@
-Subproject commit f899d169b2a6f7454b2f425dfa2713acf029e016
+Subproject commit 5f87092465b3d298b9f66410d333e8069e78df95