connect mode tree parent: make health helper optional

src/fsfw/controller/ControllerBase.cpp

@@ -109,5 +109,5 @@ const HasModesIF& ControllerBase::getModeIF() const { return *this; }
 ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }
 
 ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
 }

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1608,7 +1608,7 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
 }
 
 ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
 }
 
 const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -2,12 +2,12 @@
 
 #include <cstddef>
 
+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
-#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
-#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 
@@ -180,7 +180,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   if (CRC::crc16ccitt(data, size) != 0) {
     return CONTAINED_TC_CRC_MISSMATCH;
   }
-  
+
   // store currentPacket and receive the store address
   store_address_t addr{};
   if (tcStore->addData(&addr, data, size) != returnvalue::OK ||

src/fsfw/subsystem/SubsystemBase.cpp

@@ -284,7 +284,7 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
 HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }
 
 ReturnValue_t SubsystemBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
 }
 
 object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectId(); }

src/fsfw/subsystem/helper.cpp

@@ -2,12 +2,14 @@
 
 ReturnValue_t modetree::connectModeTreeParent(HasModeTreeChildrenIF& parent,
                                               const ModeTreeChildIF& child,
-                                              HealthHelper& healthHelper, ModeHelper& modeHelper) {
+                                              HealthHelper* healthHelper, ModeHelper& modeHelper) {
   ReturnValue_t result = parent.registerChild(child);
   if (result != returnvalue::OK) {
     return result;
   }
-  healthHelper.setParentQueue(parent.getCommandQueue());
+  if (healthHelper != nullptr) {
+    healthHelper->setParentQueue(parent.getCommandQueue());
+  }
   modeHelper.setParentQueue(parent.getCommandQueue());
   return returnvalue::OK;
 }

src/fsfw/subsystem/helper.h

@@ -7,7 +7,7 @@
 namespace modetree {
 
 ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent, const ModeTreeChildIF& child,
-                                    HealthHelper& healthHelper, ModeHelper& modeHelper);
+                                    HealthHelper* healthHelper, ModeHelper& modeHelper);
 
 }