add and instantiate SUS ASS + SUS FDIR

bsp_q7s/core/ObjectFactory.cpp

@@ -8,6 +8,7 @@
 #include <linux/obc/PtmeConfig.h>
 #include <mission/system/AcsBoardFdir.h>
 #include <mission/system/SusAssembly.h>
+#include <mission/system/SusFdir.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -137,7 +138,7 @@ void ObjectFactory::produce(void* args) {
   gpioCallbacks::disableAllDecoder();
   createPcduComponents(gpioComIF, &pwrSwitcher);
   createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiComIF);
+  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
@@ -323,7 +324,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
 #endif
 }
 
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) {
+void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieSus = new GpioCookie();
   GpioCallback* susgpio = nullptr;
@@ -367,118 +368,124 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
 
   gpioComIF->addGpios(gpioCookieSus);
 
+  SusFdir* fdir = nullptr;
+  std::array<SusHandler*, 12> susHandlers = {};
 #if OBSW_ADD_SUN_SENSORS == 1
   SpiCookie* spiCookie =
       new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler0 = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
+  susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_0);
+  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[0]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler1 = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
+  susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_1);
+  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[1]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler2 = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
+  susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_2);
+  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[2]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
                     SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler3 = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
+  susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_3);
+  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[3]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
                     SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler4 = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
+  susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_4);
+  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[4]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
                     SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler5 = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
+  susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_5);
+  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[5]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler6 = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
+  susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_6);
+  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[6]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler7 = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
+  susHandlers[7] =  new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_7);
+  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[7]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler8 = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
+  susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_8);
+  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[8]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler9 = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
+  susHandlers[9] =  new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_9);
+  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[9]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler10 = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
+  susHandlers[10] =  new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_10);
+  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[10]->setCustomFdir(fdir);
 
   spiCookie =
       new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler11 = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
-  static_cast<void>(susHandler0);
-  static_cast<void>(susHandler1);
-  static_cast<void>(susHandler2);
-  static_cast<void>(susHandler3);
-  static_cast<void>(susHandler4);
-  static_cast<void>(susHandler5);
-  static_cast<void>(susHandler6);
-  static_cast<void>(susHandler7);
-  static_cast<void>(susHandler8);
-  static_cast<void>(susHandler9);
-  static_cast<void>(susHandler10);
-  static_cast<void>(susHandler11);
+  susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_11);
+  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[11]->setCustomFdir(fdir);
+
+  for(auto& sus: susHandlers) {
+    if(sus != nullptr) {
 #if OBSW_TEST_SUS == 1
-  susHandler0->setStartUpImmediately();
-  susHandler1->setStartUpImmediately();
-  susHandler2->setStartUpImmediately();
-  susHandler3->setStartUpImmediately();
-  susHandler4->setStartUpImmediately();
-  susHandler5->setStartUpImmediately();
-  susHandler6->setStartUpImmediately();
-  susHandler7->setStartUpImmediately();
-  susHandler8->setStartUpImmediately();
-  susHandler9->setStartUpImmediately();
-  susHandler10->setStartUpImmediately();
-  susHandler11->setStartUpImmediately();
-  susHandler0->setToGoToNormalMode(true);
-  susHandler1->setToGoToNormalMode(true);
-  susHandler2->setToGoToNormalMode(true);
-  susHandler3->setToGoToNormalMode(true);
-  susHandler4->setToGoToNormalMode(true);
-  susHandler5->setToGoToNormalMode(true);
-  susHandler6->setToGoToNormalMode(true);
-  susHandler7->setToGoToNormalMode(true);
-  susHandler8->setToGoToNormalMode(true);
-  susHandler9->setToGoToNormalMode(true);
-  susHandler10->setToGoToNormalMode(true);
-  susHandler11->setToGoToNormalMode(true);
+      sus->setStartUpImmediately();
+      sus->setToGoToNormalMode(true);
 #endif
 #if OBSW_DEBUG_SUS == 1
-  susHandler0->enablePeriodicPrintout(true, 3);
-  susHandler1->enablePeriodicPrintout(true, 3);
-  susHandler2->enablePeriodicPrintout(true, 3);
-  susHandler3->enablePeriodicPrintout(true, 3);
-  susHandler4->enablePeriodicPrintout(true, 3);
-  susHandler5->enablePeriodicPrintout(true, 3);
-  susHandler6->enablePeriodicPrintout(true, 3);
-  susHandler7->enablePeriodicPrintout(true, 3);
-  susHandler8->enablePeriodicPrintout(true, 3);
-  susHandler9->enablePeriodicPrintout(true, 3);
-  susHandler10->enablePeriodicPrintout(true, 3);
-  susHandler11->enablePeriodicPrintout(true, 3);
+      sus->enablePeriodicPrintout(true, 3);
 #endif
+    }
+  }
+  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
+                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
+                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
+                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
+  SusAssHelper susAssHelper = SusAssHelper(susIds);
+  auto susAss =
+      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
+  static_cast<void>(susAss);
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 }
 
@@ -583,6 +590,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
   gpioComIF->addGpios(gpioCookieAcsBoard);
   AcsBoardFdir* fdir = nullptr;
+  static_cast<void>(fdir);
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   std::string spiDev = q7s::SPI_DEFAULT_DEV;
@@ -739,14 +747,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                                      acsBoardHelper, gpioComIF);
   static_cast<void>(acsAss);
-  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
-                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
-                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
-                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
-  SusAssHelper susAssHelper = SusAssHelper(susIds);
-  auto susAss =
-      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
-  static_cast<void>(susAss);
 #if OBSW_TEST_ACS_BOARD_ASS == 1
   CommandMessage msg;
   ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,

bsp_q7s/core/ObjectFactory.h

@@ -18,7 +18,7 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
+void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents();

fsfw

@@ -1 +1 @@
-Subproject commit ddc1cdb1f5d1ee6f532c04b0419e24f8f40566cf
+Subproject commit b6ed45a85cae1f1af83f352b4e6f8bb787743cb1

linux/fsfwconfig/OBSWConfig.h.in

@@ -48,7 +48,7 @@ debugging. */
 #define OBSW_ADD_STAR_TRACKER                       0
 #define OBSW_ADD_PLOC_SUPERVISOR                    0
 #define OBSW_ADD_PLOC_MPSOC                         0
-#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_SUN_SENSORS                        1
 #define OBSW_ADD_ACS_BOARD                          1
 #define OBSW_ADD_ACS_HANDLERS                       1
 #define OBSW_ADD_RW                                 0

mission/system/CMakeLists.txt

@@ -8,5 +8,7 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     TcsSubsystem.cpp
     DualLanePowerStateMachine.cpp
     DualLaneAssemblyBase.cpp
+
     AcsBoardFdir.cpp
+    SusFdir.cpp
 )

mission/system/DualLaneAssemblyBase.cpp

@@ -26,6 +26,7 @@ void DualLaneAssemblyBase::performChildOperation() {
   // switching off or on devices.
   if (not pwrStateMachine.active()) {
     AssemblyBase::performChildOperation();
+    // TODO: Handle Event Queue
   }
 }
 

mission/system/SusAssembly.cpp

@@ -130,7 +130,7 @@ ReturnValue_t SusAssembly::initialize() {
       return result;
     }
   }
-  return result;
+  return AssemblyBase::initialize();
 }
 
 bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {

mission/system/SusAssembly.h

@@ -15,7 +15,7 @@ struct SusAssHelper {
 
 class PowerSwitchIF;
 
-class SusAssembly : DualLaneAssemblyBase {
+class SusAssembly : public DualLaneAssemblyBase {
  public:
   static constexpr uint8_t NUMBER_SUN_SENSORS_ONE_SIDE = 6;
   static constexpr uint8_t NUMBER_SUN_SENSORS = 12;

mission/system/SusFdir.cpp

@@ -0,0 +1,6 @@
+#include "SusFdir.h"
+
+#include <common/config/commonObjects.h>
+
+SusFdir::SusFdir(object_id_t sensorId)
+    : DeviceHandlerFailureIsolation(sensorId, objects::SUS_BOARD_ASS) {}

mission/system/SusFdir.h

@@ -0,0 +1,11 @@
+#ifndef MISSION_SYSTEM_SUSFDIR_H_
+#define MISSION_SYSTEM_SUSFDIR_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+class SusFdir : public DeviceHandlerFailureIsolation {
+ public:
+  SusFdir(object_id_t sensorId);
+};
+
+#endif /* MISSION_SYSTEM_SUSFDIR_H_ */