From 0681b1895be793405efaaa41279447931233b9c3 Mon Sep 17 00:00:00 2001
From: "spahr@ksat-stuttgart.de" <spahr@ksat-stuttgart.de>
Date: Sat, 29 Mar 2025 23:28:24 +0100
Subject: [PATCH] add new MessageQueue to ModeHelper; which is equal to the
parentQueue and can command the object without forcing the object to
EXTERNAL_CONTROL
---
src/fsfw/modes/ModeHelper.cpp | 12 ++++++++++--
src/fsfw/modes/ModeHelper.h | 6 ++++++
2 files changed, 16 insertions(+), 2 deletions(-)
diff --git a/src/fsfw/modes/ModeHelper.cpp b/src/fsfw/modes/ModeHelper.cpp
index 8c83012f..aa1eb0cd 100644
--- a/src/fsfw/modes/ModeHelper.cpp
+++ b/src/fsfw/modes/ModeHelper.cpp
@@ -35,8 +35,12 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
commandedMode = mode;
commandedSubmode = submode;
- if ((parentQueueId != MessageQueueIF::NO_QUEUE) &&
- (theOneWhoCommandedAMode != parentQueueId)) {
+ // if (((parentQueueId != MessageQueueIF::NO_QUEUE) &&
+ // (theOneWhoCommandedAMode != parentQueueId))) {
+ // owner->setToExternalControl();
+ // }
+
+ if(theOneWhoCommandedAMode != parentQueueId and theOneWhoCommandedAMode != powerswitchQueueId) {
owner->setToExternalControl();
}
@@ -106,3 +110,7 @@ bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
bool ModeHelper::isForced() { return forced; }
void ModeHelper::setForced(bool forced) { this->forced = forced; }
+
+void ModeHelper::setPowerswitchQueueId(MessageQueueId_t queueId) {
+ powerswitchQueueId = queueId;
+}
diff --git a/src/fsfw/modes/ModeHelper.h b/src/fsfw/modes/ModeHelper.h
index 23f78427..c5d6bce3 100644
--- a/src/fsfw/modes/ModeHelper.h
+++ b/src/fsfw/modes/ModeHelper.h
@@ -25,6 +25,11 @@ class ModeHelper {
*/
void setParentQueue(MessageQueueId_t parentQueueId);
+ /**
+ * Set to MessageQueue::NO_QUEUE if no powerswitch is commanding the obejct.
+ */
+ void setPowerswitchQueueId(MessageQueueId_t queueId);
+
ReturnValue_t initialize(MessageQueueId_t parentQueueId);
ReturnValue_t initialize(void);
@@ -42,6 +47,7 @@ class ModeHelper {
protected:
HasModesIF *owner;
MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
+ MessageQueueId_t powerswitchQueueId = MessageQueueIF::NO_QUEUE;
Countdown countdown;