Merge remote-tracking branch 'origin/develop' into bugfix_tcs_brd_assy

mission/system/objects/AcsSubsystem.cpp

@@ -75,9 +75,7 @@ void AcsSubsystem::handleEventMessages() {
             sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
           }
         }
-        if (event.getEvent() == acs::SAFE_RATE_RECOVERY ||
-            event.getEvent() == acs::MULTIPLE_RW_INVALID ||
-            event.getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
+        if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
           CommandMessage msg;
           ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
           status = commandQueue->sendMessage(commandQueue->getId(), &msg);

mission/system/objects/CMakeLists.txt

@@ -13,6 +13,7 @@ target_sources(
           SusAssembly.cpp
           RwAssembly.cpp
           DualLanePowerStateMachine.cpp
+          StrAssembly.cpp
           PowerStateMachineBase.cpp
           DualLaneAssemblyBase.cpp
           TcsBoardAssembly.cpp)

mission/system/objects/StrAssembly.cpp

@@ -0,0 +1,30 @@
+#include "StrAssembly.h"
+
+#include <eive/objects.h>
+
+StrAssembly::StrAssembly(object_id_t objectId) : AssemblyBase(objectId) {
+  ModeListEntry entry;
+  entry.setObject(objects::STAR_TRACKER);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  commandTable.insert(entry);
+}
+
+ReturnValue_t StrAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  commandTable[0].setMode(mode);
+  commandTable[0].setSubmode(submode);
+  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  executeTable(iter);
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  if (childrenMap[objects::STAR_TRACKER].mode != wantedMode) {
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t StrAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  return returnvalue::OK;
+}

mission/system/objects/StrAssembly.h

@@ -0,0 +1,18 @@
+#ifndef MISSION_SYSTEM_OBJECTS_STRASSEMBLY_H_
+#define MISSION_SYSTEM_OBJECTS_STRASSEMBLY_H_
+
+#include "fsfw/devicehandlers/AssemblyBase.h"
+
+class StrAssembly : public AssemblyBase {
+ public:
+  StrAssembly(object_id_t objectId);
+
+ private:
+  FixedArrayList<ModeListEntry, 1> commandTable;
+
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_STRASSEMBLY_H_ */