From 9b211e1de7971f321f2b2e58e852fe18ba042592 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 27 Jan 2023 15:10:26 +0100
Subject: [PATCH] do COM SS interconnect

---
 bsp_q7s/core/ObjectFactory.cpp      |  9 +++++++++
 fsfw                                |  2 +-
 mission/tmtc/CcsdsIpCoreHandler.cpp | 13 +++++++++++++
 mission/tmtc/CcsdsIpCoreHandler.h   |  8 ++++++++
 4 files changed, 31 insertions(+), 1 deletion(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index c6b53e68..847cce5f 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -48,6 +48,7 @@
 #include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/comModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 #include "tmtc/pusIds.h"
@@ -590,6 +591,7 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
                           pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
   syrlinksHandler->setStartUpImmediately();
+  syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);
 #endif
@@ -800,6 +802,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
   vc = new VirtualChannel(ccsds::VC3, config::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
   (*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);
 
+  ReturnValue_t result = (*ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    sif::error
+        << "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
+        << std::endl;
+  }
+
   GpioCookie* gpioCookiePdec = new GpioCookie;
   consumer.str("");
   consumer << "0x" << std::hex << objects::PDEC_HANDLER;
diff --git a/fsfw b/fsfw
index 049e3b43..da124953 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 049e3b431da51ac2069c2d48c5715bb12f3234bc
+Subproject commit da124953351d6fc0910f2f14e92dac607c09b827
diff --git a/mission/tmtc/CcsdsIpCoreHandler.cpp b/mission/tmtc/CcsdsIpCoreHandler.cpp
index 21966feb..db9a56b3 100644
--- a/mission/tmtc/CcsdsIpCoreHandler.cpp
+++ b/mission/tmtc/CcsdsIpCoreHandler.cpp
@@ -1,5 +1,6 @@
 #include "CcsdsIpCoreHandler.h"
 
+#include <fsfw/subsystem/helper.h>
 #include <linux/ipcore/PdecHandler.h>
 #include <linux/ipcore/PtmeConfig.h>
 
@@ -410,3 +411,15 @@ void CcsdsIpCoreHandler::disableTransmit() {
 }
 
 const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }
+
+const HasHealthIF* CcsdsIpCoreHandler::getOptHealthIF() const { return nullptr; }
+
+const HasModesIF& CcsdsIpCoreHandler::getModeIF() const { return *this; }
+
+ReturnValue_t CcsdsIpCoreHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
+}
+
+ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
+
+object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
diff --git a/mission/tmtc/CcsdsIpCoreHandler.h b/mission/tmtc/CcsdsIpCoreHandler.h
index c9c85033..37212851 100644
--- a/mission/tmtc/CcsdsIpCoreHandler.h
+++ b/mission/tmtc/CcsdsIpCoreHandler.h
@@ -15,6 +15,7 @@
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/parameters/ParameterHelper.h"
 #include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
@@ -35,6 +36,8 @@
  */
 class CcsdsIpCoreHandler : public SystemObject,
                            public ExecutableObjectIF,
+                           public ModeTreeChildIF,
+                           public ModeTreeConnectionIF,
                            public HasModesIF,
                            public AcceptsTelemetryIF,
                            public AcceptsTelecommandsIF,
@@ -91,6 +94,11 @@ class CcsdsIpCoreHandler : public SystemObject,
 
   virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                       const uint8_t* data, size_t size);
+  const HasHealthIF* getOptHealthIF() const override;
+  const HasModesIF& getModeIF() const override;
+  object_id_t getObjectId() const override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;