From df4e657ec3f729af9323c45b63073a084bf56e4e Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Sun, 18 Jun 2023 17:36:50 +0200
Subject: [PATCH] create TCS CTRL TMP1075  PLCDU 1 se tdynamically

---
 bsp_q7s/em/emObjectFactory.cpp           | 15 ---------------
 bsp_q7s/fmObjectFactory.cpp              |  2 +-
 mission/controller/ThermalController.cpp | 20 +++++++++++++-------
 mission/controller/ThermalController.h   |  3 ++-
 4 files changed, 16 insertions(+), 24 deletions(-)

diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp
index 9aecc7ba..b319c5b6 100644
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@@ -100,21 +100,6 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
-  // Regular FM code, does not work for EM if the hardware is not connected
-  // createPcduComponents(gpioComIF, &pwrSwitcher);
-  // createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
-  // createSyrlinksComponents(pwrSwitcher);
-  // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
-  // createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  // createTmpComponents();
-  // createSolarArrayDeploymentComponents();
-  // createPayloadComponents(gpioComIF);
-  // createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
-
-  // TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
-  //       and will cause xsc_boot_copy commands to always boot to 0 0
-  // createRadSensorComponent(gpioComIF);
-
 #if OBSW_ADD_ACS_BOARD == 1
   // Still initialize chip select to avoid SPI bus issues.
   createRadSensorChipSelect(gpioComIF);
diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp
index 25fb221c..419b27a8 100644
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@@ -121,7 +121,7 @@ void ObjectFactory::produce(void* args) {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
   createMiscComponents();
-  createThermalController(*heaterHandler);
+  createThermalController(*heaterHandler, false);
   createAcsController(true, enableHkSets);
   satsystem::init();
 }
diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index 9e7b7d24..05011b1f 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -57,8 +57,6 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
       tmp1075SetTcs0(objects::TMP1075_HANDLER_TCS_0),
       tmp1075SetTcs1(objects::TMP1075_HANDLER_TCS_1),
       tmp1075SetPlPcdu0(objects::TMP1075_HANDLER_PLPCDU_0),
-      // damaged
-      tmp1075SetPlPcdu1(objects::TMP1075_HANDLER_PLPCDU_1),
       tmp1075SetIfBoard(objects::TMP1075_HANDLER_IF_BOARD),
       susSet0(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
       susSet1(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
@@ -73,6 +71,9 @@ ThermalController::ThermalController(object_id_t objectId, HeaterHandler& heater
       susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
       susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
       tcsBrdShortlyUnavailable(tcsBoardShortUnavailable) {
+  if (pollPcdu1Tmp) {
+    tmp1075SetPlPcdu1 = new TMP1075::Tmp1075Dataset(objects::TMP1075_HANDLER_PLPCDU_1);
+  }
   resetSensorsArray();
 }
 
@@ -539,14 +540,13 @@ void ThermalController::copySensors() {
     }
   }
   // damaged on FM, and no dummies for now
-
   if (pollPcdu1Tmp) {
     {
-      PoolReadGuard pg(&tmp1075SetPlPcdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
+      PoolReadGuard pg(tmp1075SetPlPcdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
       if (pg.getReadResult() == returnvalue::OK) {
-        sensorTemperatures.tmp1075PlPcdu1.value = tmp1075SetPlPcdu1.temperatureCelcius.value;
-        sensorTemperatures.tmp1075PlPcdu1.setValid(tmp1075SetPlPcdu1.temperatureCelcius.isValid());
-        if (not tmp1075SetPlPcdu1.temperatureCelcius.isValid()) {
+        sensorTemperatures.tmp1075PlPcdu1.value = tmp1075SetPlPcdu1->temperatureCelcius.value;
+        sensorTemperatures.tmp1075PlPcdu1.setValid(tmp1075SetPlPcdu1->temperatureCelcius.isValid());
+        if (not tmp1075SetPlPcdu1->temperatureCelcius.isValid()) {
           sensorTemperatures.tmp1075PlPcdu1.value = INVALID_TEMPERATURE;
         }
       }
@@ -1831,6 +1831,12 @@ void ThermalController::heaterSwitchHelperAllOff() {
   }
 }
 
+ThermalController::~ThermalController() {
+  if (tmp1075SetPlPcdu1 != nullptr) {
+    delete tmp1075SetPlPcdu1;
+  }
+}
+
 void ThermalController::tooHotHandlerWhichClearsOneShotFlag(object_id_t object, bool& oneShotFlag) {
   // Clear the one shot flag is the component is in acceptable temperature range.
   if (not tooHotHandler(object, oneShotFlag) and not componentAboveUpperLimit) {
diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h
index ab5ddd09..bcbfc004 100644
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@@ -104,6 +104,7 @@ class ThermalController : public ExtendedControllerBase {
 
   ThermalController(object_id_t objectId, HeaterHandler& heater,
                     const std::atomic_bool& tcsBoardShortUnavailable, bool pollPcdu1Tmp);
+  virtual ~ThermalController();
 
   ReturnValue_t initialize() override;
 
@@ -174,7 +175,7 @@ class ThermalController : public ExtendedControllerBase {
   TMP1075::Tmp1075Dataset tmp1075SetTcs1;
   TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
   // damaged
-  TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
+  TMP1075::Tmp1075Dataset* tmp1075SetPlPcdu1;
   TMP1075::Tmp1075Dataset tmp1075SetIfBoard;
 
   // SUS