From e25c492aa4b072994dd51742a26c1be868b765af Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 12 May 2022 19:22:20 +0200
Subject: [PATCH] create and schedule health PUS service

---
 bsp_q7s/core/InitMission.cpp    | 4 ++++
 mission/core/GenericFactory.cpp | 6 ++++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index bb531023..68bf42d4 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -404,6 +404,10 @@ void initmission::createPusTasks(TaskFactory& factory,
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index 581fe962..fdf21541 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -4,6 +4,7 @@
 #include <fsfw/health/HealthTable.h>
 #include <fsfw/internalerror/InternalErrorReporter.h>
 #include <fsfw/pus/CService200ModeCommanding.h>
+#include <fsfw/pus/CService201HealthCommanding.h>
 #include <fsfw/pus/Service17Test.h>
 #include <fsfw/pus/Service1TelecommandVerification.h>
 #include <fsfw/pus/Service20ParameterManagement.h>
@@ -99,8 +100,9 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
   new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::EIVE_OBSW,
                                    pus::PUS_SERVICE_20);
   new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::EIVE_OBSW,
-                                pus::PUS_SERVICE_200, 8, config::LONGEST_MODE_TIMEOUT_SECONDS);
-
+                                pus::PUS_SERVICE_200, 8);
+  new CService201HealthCommanding(objects::PUS_SERVICE_201_HEALTH, apid::EIVE_OBSW,
+                                  pus::PUS_SERVICE_201);
 #if OBSW_ADD_TCPIP_BRIDGE == 1
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
   auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);