new addSlot function taking executable pointer

src/fsfw/tasks/FixedTimeslotTaskBase.cpp

@@ -11,19 +11,17 @@ bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty();
 
 ReturnValue_t FixedTimeslotTaskBase::checkSequence() { return pollingSeqTable.checkSequence(); }
 
-ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-                                             int8_t executionStep) {
-  auto* executableObject = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
-  if (executableObject != nullptr) {
-    pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
+ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t execId, ExecutableObjectIF* execObj,
+                                             uint32_t slotTimeMs, int8_t executionStep) {
+  if (execObj == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << componentId
-             << std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
+    sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << execObj
+               << std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
 #else
-  sif::printError("Component 0x%08x not found, not adding it to PST\n");
+    sif::printError("Component 0x%08x not found, not adding it to PST\n");
 #endif
-  return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  pollingSeqTable.addSlot(execId, slotTimeMs, executionStep, execObj, this);
+  return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/tasks/FixedTimeslotTaskBase.h

@@ -37,7 +37,7 @@ class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
 
   [[nodiscard]] bool isEmpty() const override;
 
-  ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+  ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* componentId, uint32_t slotTimeMs,
                         int8_t executionStep) override;
 };
 

src/fsfw/tasks/FixedTimeslotTaskIF.h

@@ -2,6 +2,7 @@
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
 #include "PeriodicTaskIF.h"
+#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/returnvalues/FwClassIds.h"
 
@@ -15,6 +16,7 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
 
   static constexpr ReturnValue_t SLOT_LIST_EMPTY =
       HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0);
+
   /**
    * Add an object with a slot time and the execution step to the task.
    * The execution step will be passed to the object (e.g. as an operation
@@ -25,6 +27,20 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
    * @return
    */
   virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+                                int8_t executionStep) {
+    auto* execObj = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
+    return addSlot(componentId, execObj, slotTimeMs, executionStep);
+  }
+  /**
+   * Add an object with a slot time and the execution step to the task.
+   * The execution step will be passed to the object (e.g. as an operation
+   * code in #performOperation)
+   * @param componentId
+   * @param slotTimeMs
+   * @param executionStep
+   * @return
+   */
+  virtual ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* obj, uint32_t slotTimeMs,
                                 int8_t executionStep) = 0;
   /**
    * Check whether the sequence is valid and perform all other required

src/fsfw/tasks/PeriodicTaskIF.h

@@ -31,25 +31,33 @@ class PeriodicTaskIF {
    * @param object Id of the object to add.
    * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
-  virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0) {
+  virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode) {
     return HasReturnvaluesIF::RETURN_FAILED;
   };
 
+  virtual ReturnValue_t addComponent(object_id_t object) {
+    return addComponent(object, 0);
+  };
+
   /**
    * Adds an object to the list of objects to be executed.
    * The objects are executed in the order added.
    * @param object pointer to the object to add.
    * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
    */
-  virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode = 0) {
+  virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) {
     return HasReturnvaluesIF::RETURN_FAILED;
   };
 
+  virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
+    return addComponent(object, 0);
+  }
+
   virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 
-  virtual uint32_t getPeriodMs() const = 0;
+  [[nodiscard]] virtual uint32_t getPeriodMs() const = 0;
 
-  virtual bool isEmpty() const = 0;
+  [[nodiscard]] virtual bool isEmpty() const = 0;
 };
 
-#endif /* PERIODICTASKIF_H_ */
+#endif /* FRAMEWORK_TASK_PERIODICTASKIF_H_ */